다구찌방법을 이용한 다축 동시 PID 제어시스템의 제어이득 조정

Control Gain Tuning of a Simultaneous Multi-Axis PID Control System by Taguchi Method

This paper presents a control gain tuning scheme for multi-axis PID control systems by Taguchi method. As an experimental set-up, a parallel mechanism machine tool has been selected. This machine has eight servodrives and each servodrive has four control gains, respectively. Therefore, total 32 control gains have to be tuned. Through a series of design of experiments, an optimal and robust set of PID control gains is tuned. The index of the sum of position error and velocity error is reduced to 61.4% after the experimental gain tuning regardless of the feedrate variation.