• 제목/요약/키워드: Dual servo control

검색결과 66건 처리시간 0.026초

정전형 마이크로 액추에이터를 이용한 초고밀도 HDD용 Dual-Stage 서보 시스템 (Dual-Stage Servo System using Electrostatic Microactuator for Super-High Density HDD)

  • 김승한;성우경;이효정;이종원;최정훈;안영재;전국진;김봉환
    • 대한전기학회논문지:전기물성ㆍ응용부문C
    • /
    • 제48권2호
    • /
    • pp.153-160
    • /
    • 1999
  • Dual-stage servo system for super-high density HDD has the chances of being composed of the coarse actuator(VCM) for track-seeking control and the fine actuator(microactuator) for-following control in near future. This paper presents the concept design of dual-stage servo system and the track-following control using an electrostatic microactuator for super-high density HDD. The electrostatic microactuator is designed and fabricated by MEMS(micro-electro-mechanical system) process. Both the nonlinear plant(voltage/displacement-to-electrostatic force) and the linear plant(electrostatic force-to-displacement) of the microactuator are established. Inverse function of the nonlinear plant is employed for a feedforward nonlinear compensator design. And feedforward control effect of this compensator is shown by time-domain experiments. A track-following feedback controller is designed using the feedback nonlinear compensator which is derived from the feedforward nonlinear compensator. The track-following control experiment is done to show the control efficiency of the proposed control system. And, excellent track-following control performance(2.21kHz servo-bandwidth, 7.51dB gain margin, $50.98^{\circ}$phase margin) is achieved by the proposed control system.

  • PDF

이중서보제어루프와 디지털 필터를 통한 서보모터-업전구동기의 초정밀위치결정 시스템 개발 (Ultra Precision Positining System for Servo Motor-piezo Actuator Using the Dual Servo Loop and Digital Filter Implementation)

  • 이동성;박종호;박희재
    • 한국정밀공학회지
    • /
    • 제16권3호통권96호
    • /
    • pp.154-163
    • /
    • 1999
  • In this paper, an ultra precision positioning system has been developed using dual servo loop control. For positioning system having long distance with ultra precision , the combination of global stage and micro stage was required. A servo motor based ball screw is used as a global stage and the piezo actuator as a micro stage. For the improvement of positional precision, the digital Chebyshev filter is implemented in the developed to dual servo system. Therefore, the positional repeatability has been achieved within ${\pm}$ 10 mm, and this technique can be applied to develop precision semiconductor equipments such as lithography steppers and probers.

  • PDF

재료의 기계적 물성측정 시험장치를 위한 이중서보 시스템에 관한 연구 (Study of Dual Servo System for Measurement System of Mechanical Property)

  • 최현석;송치우;한창수;이형욱;최태훈;이낙규;나경환
    • 반도체디스플레이기술학회지
    • /
    • 제2권2호
    • /
    • pp.31-37
    • /
    • 2003
  • This paper presents a measurement system of mechanical property using dual servo system. There are many kinds of method to measure material properties such as tensile test, indention and bending test. It is highly required to measure the properties of nano-sized material and structure. However, It is need more accurate measurement system, more stable and frequency response than conventional test. In this paper, we designed the dual servo system for a measuring instrument The dual servo system consisting of a coarse stage and a fine motion stage with VCM and PZT is proposed. Mechanical mechanism is designed with the leaf spring type of flexure hinge joint. Lead compensator is applied to this control system, and is designed by PQ method.

  • PDF

개구형 근접장 헤드장치의 간극제어를 위한 이중 서보 제어 (Dual servo control for aperture type near field storage head)

  • 이성규;김은경;박강호
    • 한국소음진동공학회:학술대회논문집
    • /
    • 한국소음진동공학회 2005년도 추계학술대회논문집
    • /
    • pp.875-878
    • /
    • 2005
  • This paper presents active control of aperture type near-field storage head. In order to achieve fast and accurate control, dual servo control algorithm is applied. Based on the big difference in time constant, we seperate two actuator and control independently. With the combination of fine and coarse actuator, gap is controlled within 100nm until the disk rotates upto 10 rpm speed. From the experimental results, the feasibility and performance of active gap control is proved.

  • PDF

Robust Time-Optimal Control for Coarse/Fine Dual-Stage Systems

  • Kwon, Sang-Joo;Chung, Wan-Kyun;Youngil Youm
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 제어로봇시스템학회 1999년도 제14차 학술회의논문집
    • /
    • pp.317-320
    • /
    • 1999
  • A robust end time optimal conかof strategy for dual-stage servo system is presented. The time optimal trajectory for a mass-damper system is determined and given os a reference input to the servo system. The feedback controller is constructed so that the fine stage tracks the coarse stage errors and robustly designed as the“perturbation compensated sliding mode control(PCSMC)”law, a combination of slid-ing mode controller(SMC) and perturbation observer(PO). In addition, a null motion controller which regulates the fine stage at its neutral position is designed based on the“dynamic consistency”So, the overall dual-stage servo system exhibits the robust and time-optimal performance. The inherent merit and performance of the dual-stage system will be shown.

  • PDF

초정밀 위치 결정을 위한 이중 서보 제어용 미세 구동 메카니즘 (A Fine Motion Mechanism of Dual Servo Control for Ultraprecision Positioning)

  • 오정석;이창우;이형석;김승우
    • 한국정밀공학회:학술대회논문집
    • /
    • 한국정밀공학회 1993년도 추계학술대회 논문집
    • /
    • pp.249-254
    • /
    • 1993
  • In order to respond to the increasing demands of ultraprecision positioning mechanism in the field of precision engineering, more accurate stages are needed whose positioning uncertainty should be in the unprecedented level of nanometers, while maintaining a long travek range. For this application, most conventional stage mechanisms are found not suitable, so the concept of dual servo, which uses two different servos, is one of the new design and control strategies being extensively investigated these days, This paper presents a fine motion mechanism as a part of research on the dual servo control. The stage is made of a single structure of elastic flexure, whose xy .theta. motions are induced in the form of elastic deformation activated by three piezoelectric actuators. Experimental results show that the translational and rotational motions of the stage can be controlled with resolutions of 5 nm and 0.1 arcsec, respectively.

  • PDF

듀얼 스테이지 서보 시스템을 이용한 영상 추적장치의 정밀제어 (Dual Stage Servo Controller for Image Tracking System)

  • 최영준;강민식
    • 한국정밀공학회지
    • /
    • 제24권2호
    • /
    • pp.86-94
    • /
    • 2007
  • In this paper, a dual stage servo mechanism has been developed for image tracking system to improve control performances such as small rise time, small overshoot, small settling time, small stabilization error etc. A secondary stage, a platform, actuated by a pair of electro-magnets is mounted on a conventional elevation gimbal. In this mechanism, the gimbal provides large range but slow motion and the platform provides small range but fast positioning. A sliding mode control is applied to the platform positioning to attain robust performances and stability in the presence of the disturbance related to dynamic coupling of the gimbal and the platform. Results from experiments illustrate that the suggested dual stage mechanism controlled by the sliding mode control is effective in improving responses and attenuating the disturbance response related with dynamic coupling.

이중 적응제어 루프를 이용한 영구자석 동기 전동기의 강인성 제어 시스템 (Robust Control System of PMSM using Dual Adaptive Control Loop)

  • 윤병도;김윤호;윤명균;김철호
    • 대한전기학회:학술대회논문집
    • /
    • 대한전기학회 1991년도 추계학술대회 논문집 학회본부
    • /
    • pp.175-178
    • /
    • 1991
  • The drive system of servo motor is requested to have robustness of disturbance and parameter variation. However, the dynamics of PMSM drive change significantly by forced disturbance and parameter variation. Moreover, the state error caused by them should be suppressed completely and rapidly. In this paper, the vector-control system of PMSM using dual adaptive control loop is investigated. In the proposed system, linear adaptive control loop rapidly recovers the state error caused by both disturbance and parameter variation. In the dual adaptive control loop, the inner loop reduces the system sensitivity of parameter variation and disturbance, and the outer loop suppresses the state error caused by them completely. The proposed servo system is verified through a computer simulations and experimental results.

  • PDF