Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Design of the Fuzzy Logic Cross-Coupled Controller using a New Contouring Modeling

새로운 윤곽 모델링에 의한 퍼지논리형 상호결합제어기 설계

  • Kim, Jin-Hwan (Dept. of Computer Applied Control, Doowon College) ;
  • Lee, Je-Hie (Dept. of Computer Applied Control, Doowon College) ;
  • Huh, Uk-Youl (Division of Electrial and Computer Engineering, Inha University)
  • 김진환 (斗源工科大學 컴퓨터應用制御科) ;
  • 이제희 (斗源工科大學 컴퓨터應用制御科) ;
  • 허욱열 (仁河大學敎 電子電氣컴퓨터工學部)
  • Published : 2000.01.01
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Abstract

This paper proposes a fuzzy logic cross-coupled controller using a new contouring modeling for a two-axis servo system. The general decoupled control approach may result in degraded contouring performance due to such factors as mismatch of axial dynamics and axial loop gains. In practice, such systems contain many uncertainties. The cross-coupled controller utilizes all axis position error information simultaneously to produce accurate contours. However, the conventional cross-coupled controllers cannot overcome friction, backlash, and parameter variations. Also since, it is difficult to obtain an accurate mathematical model of multi-axis system, here we investigate a fuzzy logic cross-coupled controller of servo system. In addition, new contouring error vector computation method is presented. The experimental results are presented to illustrate the performance of the proposed algorithm.

본 논문에서는 2축 서보시스템에 적용하기 위한 새로운 윤곽 모델링을 이용하여 퍼지논리형 상호결합제어기를 제안한다. 일반적인 각 축 독립제어기는 각 축의 동적 변수와 루프 이득의 불일치로 인해 윤곽 성능을 감소시킨다. 실제적으로 이러한 시스템은 많은 불확실성도 보유하고 있다. 상호결합제어기는 정확한 윤곽을 구하기 위해 모든 축의 위치 오차 정보를 동시에 이용한다. 그러나 일반적인 상호결합제어기는 마찰, 백래쉬 그리고 매개변수 변화를 극복하지 못한다. 또한 정확한 다축 시스템의 수학적 모델을 얻기 힘들기 때문에 서보시스템의 퍼지논리형 상호결합제어기를 제안한다. 이와 더불어 새로운 윤곽 오차 벡터 계산법을 제시한다. 제안한 알고리즘의 성능을 검증하기 위해 실험결과를 나타낸다.

Keywords

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