조명전기설비학회논문지 (Journal of the Korean Institute of Illuminating and Electrical Installation Engineers)

  • 제23권11호
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  • Pages.94-101
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  • 2009
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  • 1229-4691(pISSN)
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  • 2287-5034(eISSN)
한국조명전기설비학회 (The Korean Institute of IIIuminating and Electrical Installation Engineers)
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Tracking Control Method of a Step Motor for a Bilateral Symmetric Trainer

  • Kim, Young-Tae (Dept. of Electrical Eng., Gangneung-Wonju National University)
  • 발행 : 2009.11.30
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초록

This paper poses tracking control and torque control methods to reduce torque ripple for bilateral symmetric trainers. As opposed to the conventional method, the torque control method for active joint movement is proposed. Using a step motor (PK296-03b, step angle: $1.8^{\circ}$), a simulator for a bilateral symmetric trainer is created, and the effectiveness of the proposed control method is verified through experiment results.

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참고문헌

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