Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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High Gain Observer-based Robust Tracking Control of LIM for High Performance Automatic Picking System

고성능 자동피킹 시스템을 위한 선형 유도 모터의 고이득 관측기 기반의 강인 추종 제어

  • Choi, Jung-Hyun (Department of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Kim, Jung-Su (Department of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Kim, Sanghoon ;
  • Yoo, Dong Sang ;
  • Kim, Kyeong-Hwa (Department of Electrical and Information Engineering, Seoul National University of Science and Technology)
  • 최정현 (서울과학기술대학교 전기정보공학과) ;
  • 김정수 (서울과학기술대학교 전기정보공학과) ;
  • 김상훈 (한경대학교 전기전자제어공학과) ;
  • 유동상 (한경대학교 전기전자제어공학과) ;
  • 김경화 (서울과학기술대학교 전기정보공학과)
  • Received : 2014.08.25
  • Accepted : 2015.02.04
  • Published : 2015.02.25
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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 high gain observer-based robust speed controller design for a linear induction motor (LIM) drive. The force disturbance as well as the mechanical parameter variations such as the mass and friction coefficient gives a direct influence on the speed control performance of APS. To guarantee a robust control performance, the system uncertainty caused by the force disturbance and mechanical parameter variations is estimated through a high gain disturbance observer and compensated by a feedforward manner. While a time-varying disturbance due to the mass variation can not be effectively compensated by using the conventional disturbance observer, the proposed scheme shows a robust performance in the presence of such uncertainty. A Simulink library has been developed for the LIM model from the state equation. Through comparative simulations based on Matlab - Simulink, it is proved that the proposed scheme has a robust control nature and is most suitable for APS.

고정밀도와 고속응성의 물류 이송을 위한 자동피킹 시스템 (Automatic Picking System; APS) 구동용 선형 유도 모터 드라이브의 설계 기법 및 고이득 관측기 기반의 강인 속도 제어 기법이 제안된다. APS에 존재하는 외란추력, 질량 및 마찰계수 등의 기계적 파라미터 불확정성은 시스템의 속도 제어 성능에 직접적인 영향을 주며 이러한 불확정성 하에서도 강인한 속도 응답 성능을 보유하는 속도 제어기가 요구된다. 시스템의 불확정성을 효과적으로 추정할 수 있는 고이득 관측기를 통해 외란이 추정되며 시스템의 불확정성을 제거하기 위해 추정된 외란이 제어입력에 전향제어 방식으로 보상된다. 기존의 외란 관측기가 질량 변화에 기인한 시변 외란을 효과적으로 보상하는 데에 한계가 있는 반면 제안된 속도 제어 시스템은 외란추력 및 질량 변화 하에서도 강인한 속도 추종 성능을 제공한다. 선형 유도 모터의 모델을 위한 Simulink 라이브러리가 상태방정식으로부터 개발되며 이를 활용한 Matlab - Simulink 기반의 비교 시뮬레이션을 통해 제안된 방식이 강인한 속도 응답 성능을 가지며 고정밀도와 고속응성을 요구하는 APS에 적합함이 입증된다.

Keywords

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