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http://dx.doi.org/10.5391/JKIIS.2004.14.6.693

A Study on Position Control of 2-Mass Resonant System Using Iterative Learning Control  

Lee, Hak-Sung (세종대학교 전자공학과)
Moon, Seung-Bin (세종대학교 컴퓨터공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.14, no.6, 2004 , pp. 693-698 More about this Journal
Abstract
In this paper, an iterative learning control method is applied to suppress a vibration of a 2-mass system which has a flexible coupling between a load and a motor. More specifically, conditions for the load speed without vibration are derived based on the steady-state condition. And the desired motor position trajectory is synthesized based on the relation between the load and motor speed. Finally, a PD-type iterative learning control law is applied for the desired motor position trajectory. Since the learning law applied for the desired trajectory guarantees the perfect tracking performance, the resulting load speed shows no vibration even when there exist model uncertainties. A modification to the learning law is also Presented to suppress undesired effects of an initial position error, The simulation results show the effectiveness of the proposed learning method.
Keywords
반복 학습 제어;2관성 공진계;진동 억제;위치 제어;
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