대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제35권11호
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  • Pages.1423-1428
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  • 2011
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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비선형 구동기의 변수추정을 통한 학습입력성형제어기

Learning Input Shaping Control with Parameter Estimation for Nonlinear Actuators

  • 김득현 (조선대학교 기계공학과) ;
  • 성윤경 (조선대학교 기계공학과) ;
  • 장완식 (조선대학교 기계공학과)
  • 투고 : 2011.04.27
  • 심사 : 2011.08.31
  • 발행 : 2011.11.01
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초록

본 논문은 비선형 구동기를 포함한 유연시스템의 잔류변위저감을 위한 학습입력성형제어기를 제시한다. 제시되는 제어기는 비선형 구동기에 대한 입력성형제어기, 반복최소자승법 및 설계변수 updating rule 을 통합하여 개발된다. 비선형 구동기에 대응한 입력성형제어기 설계변수의 updating mechanism 을 개선하기 위한 잔류변위 측정함수가 제시된다. 제시된 제어방법을 pendulum system 에 적용하여 변수추정의 수렴성과 변위저감제어성능의 평가를 통해 수치해석적으로 실용성이 검증된다.

This paper proposes a learning input shaper with nonlinear actuator dynamics to reduce the residual vibration of flexible systems. The controller is composed of an estimator of the time constant of the nonlinear actuator dynamics, a recursive least squares method, and an iterative updating algorithm. The updating mechanism is modified by introducing a vibration measurement function to cope with the dynamics of nonlinear actuators. The controller is numerically evaluated with respect to parameter convergence and control performance by using a benchmark pendulum system. The feasibility and applicability of the controller are demonstrated by comparing its control performance to that of an existing controller algorithm.

키워드

참고문헌

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