제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제6권3호
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  • Pages.248-255
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  • 2000
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

학습제어기법을 이용한 X-Y Table의 마찰보상

Friction Compensation of X-Y robot Using a Learning Control Technique

  • 손경오 (성균관대하교 전기전자컴퓨터공학부) ;
  • 국태용 (성균관대하교 전기전자컴퓨터공학부)
  • 발행 : 2000.03.01
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초록

Whereas the linear PID controller is widely used for control of industrial servo systems a high precision positioning system is not easy to control only with the PID controller due to uncertain nonlinear dynamics such as friction backlash etc. As a viable means to overcome the difficulty a learning control scheme is proposed in this paper that is simple and straightforward to implement. The proposed learning controller takes full advantage of current feedback capability of the inner-loop of the control system in that electrical motor dynamics as the well as mechanical part of X-Y positioning system is included in the learning control scheme, The experimental results are given to demonstrate its feasibility and effectiveness in terms of convergence precision of tracking and robustness in comparison with the conventional control method.

키워드

참고문헌

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