한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제16권3호통권96호
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- Pages.109-115
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- 1999
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
마찰보상을 통한 서어보제어계의 정밀 안정화 제어
Precision Stabilization Control of Servo-system by Using Friction Compensation
초록
This paper presents a stabilization control designed to improve position stabilization performance of a position servo-system(turret) mounted on a manuvering platform(vehicle). In the consideration of the motion of the platform, a dynamic model of the stabilization system is derived and shows the viscous and stick-slip friction torques are the major source of stabilization errors. An extended generalized minimum variance control which consists of a feedforward disturbance compensation as well as a pole placement feedback control is suggested to reduce the stabilization errors caused from the friction disturbances. This modeling and control are applied to a small experimental set-up and the experimental results confirm the accuracy of the model and the effectiveness of the suggested control.
키워드