The Transactions of the Korean Institute of Electrical Engineers (대한전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on the Design of an Educational Robot System -On a Speed and Position Controller of DC Servo Motor-

교육용 로보트의 설계에 관한 연구 -DC써어보모타의 위치 및 속도제어기를 중심으로

  • 고명삼 (서울대 공대 제어계측공학과) ;
  • 권욱현 (서울대 공대 제어계측공학과) ;
  • 이장규 (서울대 공대 제어계측공학과) ;
  • 이상욱 (서울대 공대 제어계측공학과) ;
  • 권순학 (서울대 대학원 제어계측공학과)
  • Published : 1984.09.01
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Abstract

In this paper we present how to design the software-based speed and position controller of a DC servo drive system for an educational robot. The controller designed by fully digital scheme consists of a CPU, drive unit, encoder pulse coding unit, speed and position detector. The control algirithm of the controller is a hybrid one such that speed control and position control are switched at some instant to get more accuracy. The experimental resusts of the proposed DC servo-controller show good performances for the position and speed control of the proposed educational robot system.

Keywords