Implementation of the robust speed control system for DC servo motor using TDF compensator method

2자유도 보상법에 의한 직류서보전동기의 강인한 속도제어시스템 구현

In this paper, a robust two-degree-of-freedom(TDF) the speed control system using $H_{\infty}$ optimization method and real genetic algorithm is proposed for the robust stability and the robust performance in dc servo motor system. This control system composed of feedback and feedforward controller. The feedback(FB) controller with $H_{\infty}$ optimization method is designed for real genetic algorithm that is model matching problem using mixed sensitivity function. The feedforward(FF) controller with $H_{\infty}$optimization method is minimized the error between transfer function of the optimal model and the overall transfer function. The proposed robust two-degree-of-freedom speed control system is simulated to the dc servo motor. By the simulation, feedback controller can obtain the robust stability property and feedforward controller can obtain the robust performance property under modelling error. The performance of the dc servo motor is analyzed by the experiment setting. The validity of the proposed method is verified through being compared with pid(proportional integrated differential)control system design method for the dc servo motor.