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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Study on Current, Velocity, Position Gain Tuning Technique of Servo Position Controller using Simulation

시뮬레이션을 이용한 서보 위치제어기의 전류, 속도, 위치이득 동조기법에 관한 연구

  • Received : 2011.03.14
  • Accepted : 2011.05.04
  • Published : 2011.07.01
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Abstract

When a servo position controller of a robot or a driving units is composed of a PID controller, servomechanism which is modelled is composed of current, velocity and position control loops. After this model is simulated, the technique operating gain of each controller is suggested. The model consists of current, velocity and position controllers from the inside to the outside gradually. Also, to combine velocity and position controllers with 2 order system, simulation is performed after current controllers are composed, which are able for current loop to work ideally. If a current controller is treated with constant, it is possible for velocity and position controller to consist of controller into 2 order system. The technique is verified by applying T-company servo motor which is much more applied to current, velocity and position controller robots.

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References

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