한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제4권4호
  • /
  • Pages.25-35
  • /
  • 1987
  • /
  • 1225-9071(pISSN)
  • /
  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

서보 모터의 디지털 제어기 설계에 관한 연구

A Study on the Design of a Digital Controller for DC Servo Motor

  • 이두복 (홍익공업전문대학 전자과) ;
  • 홍언식 (홍익공업전문대학 전자과) ;
  • 최홍규 (홍익공업전문대학 전자과) ;
  • 채동규 (홍익공업전문대학 전자과)
  • 발행 : 1987.12.01
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초록

This paper deals with the design of the digital controller for DC servo motor, and it is implemented for the cartesian coordinate 4 axes manipulator. A design method of the controller is adopted an algorithm using the digital position locked loop(DPLL) method and the linear PID control for the smooth motion. To simplify the hardware configuration of control system, 8279 keyboard/display controller, Z-80 CTC counter and 8255 PPI are used. Therefore the design method to control each motor as real-time is presented. To show effectiveness of the design, the PWM circuit and frequency/voltage converter are applied for the velocity control of robot system. When the proposed controller is applied to the 4-axes manipulator, it reveals that the error probabilities of X, Y and Z axis as 0.033%, 0.023% and 0.028% respectively.

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