Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Design of Linear Induction Machine Drive and Robust Position Controller based on Integral Variable Structure Scheme for Automatic Picking System

자동피킹 시스템 구동용 선형 유도 모터 드라이브 설계 및 적분형 가변구조 제어 기반의 강인 위치 제어기 설계

  • Choi, Jung-Hyun (Department of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Yoo, Dong Sang ;
  • Kim, Kyeong-Hwa (Department of Electrical and Information Engineering, Seoul National University of Science and Technology)
  • 최정현 (서울과학기술대학교 전기정보공학과) ;
  • 유동상 (한경대학교 전기전자제어공학과) ;
  • 김경화 (서울과학기술대학교 전기정보공학과)
  • Received : 2013.09.01
  • Accepted : 2013.10.24
  • Published : 2013.12.25
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Abstract

To implement an automatic picking system (APS) in distribution center with high precision and high dynamics, this paper presents a design of a linear induction motor (LIM) drive and robust position controller based on integral variable structure control (IVSC) scheme. The force disturbance as well as the mechanical parameter variation such as the mass and friction coefficient gives a direct influence on the position control performance of APS. To guarantee a robust control performance in the presence of such uncertainty, a robust position controller is designed. A Simulink library is developed for the LIM model from the state equation. Through this model and comparative simulation based on Matlab - Simulink, it is proved that the proposed scheme has a robust control nature and is most suitable for APS.

고 정밀도와 고 속응성의 물류 이송을 위한 자동피킹 시스템 (Automatic Picking System; APS) 구동용 선형 유도 모터 드라이브의 설계 및 강인한 위치 제어 기법이 제안된다. 모델 불확실성에 대한 강인한 위치 제어기 설계를 위해서 적분형 가변구조 제어 기법이 고려된다. APS의 외란추력, 질량 및 마찰계수 등의 기계적 파라미터 변화는 위치 제어 성능에 직접적 영향을 주며 이러한 불확실성 하에서도 강인한 위치 응답 성능을 보유하는 위치 제어기가 설계된다. 선형 유도 모터의 모델을 위한 Simulink 라이브러리가 상태방정식으로부터 개발되며 이를 활용한 Matlab - Simulink 기반의 비교 시뮬레이션을 통해 제안된 방식이 강인한 위치 응답 성능을 가지며 고 정밀도와 고 속응성을 요구하는 APS에 적합함이 입증된다.

Keywords

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