Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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High-Performance Tracking Controller Design for Rotary Motion Control System

회전운동 제어시스템을 위한 고성능 추적제어기의 설계

  • Kim, Youngduk (ROK Air Force) ;
  • Park, Su Hyeon (Department of Mechanical Convergence Engineering, Gyeongsang National University) ;
  • Ryu, Seonghyun (New Product Process Engineering, Hyundai Mobis Co. Ldt.) ;
  • Song, Chul Ki (School of Mechanical Engineering, ERI, Gyeongsang National University) ;
  • Lee, Ho Seong (Department of Mechanical Convergence Engineering, Gyeongsang National University)
  • 김영덕 (대한민국 공군) ;
  • 박수현 (경상국립대학교 기계융합공학과) ;
  • 류성현 (현대 모비스(주), 신제품개발생기팀) ;
  • 송철기 (경상국립대학교 기계공학부, 공학연구원) ;
  • 이호성 (경상국립대학교 기계융합공학과)
  • Received : 2021.09.23
  • Accepted : 2021.10.03
  • Published : 2021.11.30
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Abstract

A robust tracking controller design was developed for a rotary motion control system. The friction force versus the angular velocity was measured and modeled as a combination of linear and nonlinear components. By adding a model-based friction compensator to a nominal proportional-integral-derivative controller, it was possible to build a simulated control system model that agreed well with the experimental results. A zero-phase error tracking controller was selected as the feedforward tracking controller and implemented based on the estimated closed-loop transfer function. To provide robustness against external disturbances and modeling uncertainties, a disturbance observer was added in the position feedback loop. The performance improvement of the overall tracking controller structure was verified through simulations and experiments.

Keywords

Acknowledgement

This work was supported by the fund of research promotion program, the Office of Academy and Industry Collaboration, Gyeongsang National University, and the fund of 2020 Undergraduate Research Program (URP), Korea Foundation for the Advancement of Science and Creativity.

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