반도체디스플레이기술학회지 (Journal of the Semiconductor & Display Technology)

한국반도체디스플레이기술학회 (The Korean Society Of Semiconductor & Display Technology)
권호 표지

선형 모터에서 힘리플 제거를 위한 Hybrid 제어기의 설계

Design of a Hybrid Controller to Eliminate the Force Ripple in the Linear Motor

  • 김경천 (한국과학기술원 기계공학과) ;
  • 김정재 (한국과학기술원 기계공학과) ;
  • 최영만 (한국과학기술원 기계공학과) ;
  • 권대갑 (한국과학기술원 기계공학과)
  • Kim, Kyong-Chon (KAIST(Korea Advanced Institute of Science and Technology) Mechanical Engineering) ;
  • Kim, Jung-Jae (KAIST(Korea Advanced Institute of Science and Technology) Mechanical Engineering) ;
  • Choi, Young-Man (KAIST(Korea Advanced Institute of Science and Technology) Mechanical Engineering) ;
  • Gweon, Dae-Gab (KAIST(Korea Advanced Institute of Science and Technology) Mechanical Engineering)
  • 발행 : 2008.03.31
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초록

The proposed hybrid controller consists of PID controller, feedforward controller and RLSE (Recursive Least Square Estimating) adaptive controller to compensate the force ripple that is periodic function of position in a linear motor. The modeling of force ripple is divided into the current-dependent and current-independent components. The current independent components never change as the current into the linear motor changes. On the other hand, the current-dependent components change as current varies when the velocity and load of the linear motor change. The proposed controller can compensate both force ripples. The feedforward controller compensates the current-independent components and the RLSE adaptive controller compensates the current-dependents components. We verified the performance of the controller by simulation and experiments.

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