동력기계공학회지 (Journal of Power System Engineering)

  • 제18권1호
  • /
  • Pages.112-119
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  • 2014
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  • 2713-8429(pISSN)
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  • 2713-8437(eISSN)
한국동력기계공학회 (The Korean Society for Power System Engineering)
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능동 하모닉 기어구동시스템의 동기화제어

Synchronized Control of Active Harmonic Gear System

  • 김상진 (부경대학교 대학원 제어기계공학과, 삼성탈레스) ;
  • 문덕홍 (부경대학교 기계시스템공학과) ;
  • 김영복 (부경대학교 기계시스템공학과)
  • Kim, Sang-Jin (Department of Control & Mechanical Engineering, the Graduate School, Pukyong National University and Samsung TALES) ;
  • Moon, Deok-Hong (Department of Mechanical System Engineering, Pukyong National University) ;
  • Kim, Young-Bok (Department of Mechanical System Engineering, Pukyong National University)
  • 투고 : 2014.01.02
  • 심사 : 2014.01.14
  • 발행 : 2014.02.28
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초록

In this paper, the authors consider a gimbal system in which a camera is installed to reconnoiter the objects or targets. The issue for this considered system is to obtain information with good quality always. To achieve given objective, it is necessary to control the gimbal system with accurate rotation angle and speed. In this paper, the authors design a robust control system based on $H_{\infty}$ control framework. The controller is designed using a plant model obtained by experiment and simulation. And the experiment result with good control performance is presented.

키워드

참고문헌

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피인용 문헌

  1. Robot Arm Motion Control System Design based on Double Active Disturbance Rejection Method vol.23, pp.3, 2014, https://doi.org/10.9726/kspse.2019.23.3.065