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

  • 제6권10호
  • /
  • Pages.871-880
  • /
  • 2000
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  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

네트워크 표현을 이용한 트윈서보 시스템의 모델링과 강건 동기 동작 제어

Modeling and Robust Synchronizing Motion Control of Twin-Servo System Using Network Representation

  • 김봉근 (포항공과대학교 기계공학과) ;
  • 최현택 (한양대학교 전자공학과) ;
  • 정완균 (포항공과대학교 기계공학과) ;
  • 서일홍 (한양대학교 전자공학과) ;
  • 송중호 (한국과학기술연구원)
  • 발행 : 2000.10.01
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초록

A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

키워드

참고문헌

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