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

  • 제18권7호
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  • Pages.680-687
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  • 2012
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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쿨롱마찰을 고려한 무인항공기용 영상 김발의 제어시스템 설계

Control System Design for a UAV-Mounted Camera Gimbal Subject to Coulomb Friction

  • 황성필 (세종대학교 항공우주공학과) ;
  • 박재호 (세종대학교 항공우주공학과) ;
  • 홍성경 (세종대학교 항공우주공학과)
  • 투고 : 2012.03.08
  • 심사 : 2012.06.17
  • 발행 : 2012.07.01
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초록

One of the frequent problems in the stabilized gimbal system is the rejection of disturbances associated with moving components. Very often such disturbances have non-linear characteristics. In a typical gimbal system, each gimbal and platform are connected by a mutual bearing which induces inevitable friction. Particularly, the non-linear Coulomb friction causes position errors as well as slow responses that lead to unfavorable performance. In this paper, a modified PID controller that is augmented by Coulomb friction estimator is presented. Through constantly estimating the Coulomb friction torque, it is applied to the output of the existing PID controller. The effectiveness of the proposed controller is evaluated through a series of experiments.

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참고문헌

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