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http://dx.doi.org/10.3795/KSME-A.2004.28.9.1245

Precise Position Synchronous Control of Four-Axes System Based on Acceleration Control  

Jeong, Seok-Kwon (부경대학교 기계공학부)
Choi, Bong-Seok (부경대학교 대학원 메카트로닉스공학과)
You, Sam-Sang (한국해양대학교 기계ㆍ정보공학부)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.28, no.9, 2004 , pp. 1245-1254 More about this Journal
Abstract
In this paper, we deal with a precise position synchronous control of four-axes system which is working under various load disturbances. Each axis driving system is consisted of a speed controller and an acceleration controller as an inner loop instead of conventional current control scheme. The acceleration control plays an important roll to suppress load disturbances quickly. Also, each axis is coupled by a maximum position synchronous error comparison to minimize position synchronous errors according to integration of speed differency. As a result, the proposed system enables precise synchronous control with good robustness against load disturbances during transient as well as steady state. The stability and robustness of the proposed system are investigated through its frequency characteristic and numerical simulations. Finally, experimental results under load disturbances demonstrate the effectiveness of the proposed control system fur four-axes position synchronous control.
Keywords
Position Synchronous Control; Maximum Position Synchronous Error Comparison; Acceleration Control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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