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http://dx.doi.org/10.7736/KSPE.2012.29.11.1207

Control Gain Tuning of the 3-DOF Micro Parallel Mechanism Platform Via Design of Experiment Methodology  

Seo, Tae-Won (School of Mechanical Engineering, Yeungnam Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.29, no.11, 2012 , pp. 1207-1213 More about this Journal
Abstract
Typically commercial controllers do not give data of the controller gains. Therefore, it is very hard to determine the optimal controller gain even though the dynamic model is derived. In this case, design of experiment (DOE) methodology can be a powerful tool for gain tuning. In this research, gain tuning process is proposed based on the DOE. Micro parallel mechanism platform with 3 degrees-of-freedom (DOF) is used for the experiments. Controller gains are measured indirectly from the voltages of adjustable resistors. The controller gains of three actuators are optimized by two or three steps, respectively. The correlations of the controller gains are also analyzed. The process and methodology can be adopted in gain tuning of other mechanical systems.
Keywords
Gain Tuning; Design of Experiment; Parallel Mechanism; Correlation Analysis;
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Times Cited By KSCI : 2  (Citation Analysis)
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