• Title/Summary/Keyword: Servo Control

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Position and swing angle control for loads of overhead cranes (천정크레인 부하의 위치 및 흔들림 제어)

  • Lee, Ho-Hoon;Cho, Sung-Kun
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.21 no.2
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    • pp.297-304
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    • 1997
  • This paper presents a systematic design method of an anti-swing control law for overhead cranes. A velocity servo system for the trolley of a crane is designed based on the dynamics of the trolley and its load. The velocity servo system compensates for the effects of load swing on the trolley dynamics so that the velocity servo is independent of load swing. The velocity servo system is used for the design of a position servo system for the trolley via the loop shaping method. The position servo system and the swing dynamics of the load are then used to design an angle control system for load swing based on the root locus method. The combined position servo and the angle control systems constitute the overall control system. In the presence of low frequency disturbances, the proposed control law guarantees accurate position control for the trolley and fast damping for load swing. Furthermore, the performance of the proposed control law is independent of the mass of the load. Experimental results on a prototype crane show the effectiveness of the proposed anti-swing control law.

The Design of Servo Control Mechanism for Swash Plate Type Axial Piston Pump (사판식 피스톤 펌프 서보제어기구 설계)

  • 노종호;함영복;윤소남;최병오
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2002.10a
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    • pp.741-744
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    • 2002
  • The closed circuit pump is applied to control rotating speed and direction of hydraulic motor in hydrostatic transmission. To development of this pump, first of all the servo control regulator has to be designed. Mechanical-hydraulic type servo control mechanism is excellent to be compared with electronic-hydraulic type servo control valve to reliability and economy. In this paper to development positive and negative variable displacement type servo regulator, the hydro-mechanical servo control mechanism is calculated and designed with force balance of pilot piston and position feedback of servo piston.

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Identification and Control of a Electro-Hydraulic Servo System Using a Direct Drive Valve (압력제어용 DDV를 이용한 전기.유압 서보시스템의 식별 및 제어)

  • 이창돈;이상훈;곽동훈;이진걸
    • Journal of Institute of Control, Robotics and Systems
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    • v.9 no.2
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    • pp.124-130
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    • 2003
  • The electro-hydraulic servo system with a servo valve is applied widely in force control. However, the composition of control system using a servo valve is difficult due to nonlinearities in the servo valve, such as square-root terms in flow equation. The electro-hydraulic servo system using a DDV(Direct Drive Valve) instead of a servo valve was proposed and it's characteristics was estimated. The DDV and whole system are modelled by parameter identification using the input-and-output data, then the models are verified by the comparison of simulation with experiment. Also, the state feedback controller has been designed based on this model, then the performance of the electro-hydraulic force servo system using a DDV is evaluated by simulation and experimental results.

Development of the Servo Motion Controller using Gyro Sensor (Gyro Sensor 제어용 Servo Motion 제어기 개발)

  • Lee, Won-Bu;Park, Soo-Hong
    • The Journal of the Korea institute of electronic communication sciences
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    • v.5 no.5
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    • pp.493-497
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    • 2010
  • Real time coordinate conversion of vessel was realized, we developed motion control algorithm of DC Servo Motor. We made servo control circuit and PCB, also We developed the system using 3-axis Gyro Sensor based Servo Motion Controller. For ship's movement simulation, we made the ship simulator of 6 degree of freedom. With a mounted camera on developed simulator, We tested the desired ship's movement, and the desired result of error tolerance was obtained.

A Study on Servo Motor Control in Multi Pallet System (다중 팔렛 시스템에 사용되는 서보 모터의 제어에 관한 연구)

  • Oh, Hyun-Woo
    • IEMEK Journal of Embedded Systems and Applications
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    • v.14 no.6
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    • pp.339-346
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    • 2019
  • Multi-axis servo systems are widely used in various fields such as industiral systems for improving production efficiency, robotics and complex systems where many mechanical devices and sensor systems are connected. Such a servo system requires that the servo control technique to realize the synchronization of the drive shaft in the steady state and transient conditions and to control so as to follow the target track in order to improve product precision and production efficiency. In addition, embedded type hardware is required for smooth control of the entire multi-axis system. Therefore, this paper uses hardware based on FPGA which is widely used in digital signal processing field and various control system because hardware design change is easy and parallel processing is possible. In addition, Labview based servo motor control program was studied that can control the servo motor by ensuring the performance and flexibility of the FPGA and follow the target trajectory according to various speed processing and accurate timing synchronization.

Controller Design for a Nozzle-flapper Type Servo Valve with Electric Position Sensor

  • Istanto, Iwan;Lee, Ill-yeong;Huh, Jun-young;Lee, Hyun-cheol
    • Journal of Drive and Control
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    • v.16 no.1
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    • pp.29-35
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    • 2019
  • The control performance of hydraulic systems is basically influenced by the performance of electrohydraulic servo valve incorporated in a hydraulic control system. In this study, a control design was proposed to improve the control performance of a servo valve with a non-contact eddy current type position sensor. A mathematical model for the valve was obtained through an experimental identification process. A PI-D control together with a feedforward (FF) control was applied to the valve. To further improve the dynamic response of the servo valve, an input shaping filter (ISF) was incorporated into the valve control system. Finally, the effectiveness of the proposed control system was verified experimentally.

Design and its Application of Robust Degital Optimal Model Following Servo System (강인한 디지털 최적모델 추종형 서보시스템의 구성과 그 적용)

  • 이양우;김정택;황창선
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.43 no.7
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    • pp.1186-1192
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    • 1994
  • This paper presents an algorithm to design a robust digital model following servo control system in which optimal linear quadratic regulator problem is used to design the control system that make the step/ramp response of the plant kept close to a specified ideal step/ramp response of the model. The quadratic criterion function for a continuous system is used to design the robust digital servo control system. The feasibility of the design technique is shown by the simulation and the proposed method is applied to the speed control of DC servo motor.

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Design of an LMI- Based H^{\infty} Servo Controller for Tandem Cold Mill (LMI 에 기초한 연속 냉간압연기의 H^{\infty} 서보 제어기 설계)

  • Kim, In-Soo;Hwang, I-Cheol;Lee, Man-Hyung
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.1
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    • pp.25-34
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    • 2000
  • In this paper, we design a H^\infty servo controller for gauge control of tandem cold mill. To improve the performance of the AGC(Aotomatic Gauge Control) system based on the Taylor linearized model of tandem cold mill, the H^\infty servo controller is designed to satisfy robust stability, disturbance attenuation and robust tracking properties. The H^\infty servo controller problem is modified as an usual H^\infty control problem, and the solvability condition of the H^\infty servo problem depends on the solvability of the modified H^\infty control problem. Since this modified problem does not satisfied standard assumptions for the H^\infty control problem, it is solved by an LMI(Linear Matrix Inequality) technique. Consequently, the comparison between the H^\infty servo controller and the existing PID/FF(FeedForward) controller shows the usefulness of this study.

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Speed and Position Control of AC Servo System using SIMTool (SIMTool을 이용한 AC 서보 시스템의 속도 및 위치제어)

  • Ji, Jun-Keun;Lim, Young-Ha
    • Proceedings of the KIEE Conference
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    • 2003.10b
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    • pp.184-186
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    • 2003
  • In this paper, speed and Position control of AC servo system using SIMTool of Realgain company is introduced. "AC Servo-Designer"system, including CEMTool/SIMTool S/W, RG-DSPIO board, AC servo driver and AUTOTool program, is used in this research. "AC Servo-Designer"system can use SIMTool blocks to Because design and implement various controller in short time, speed and position controller of AC servo system are easily designer and implemented according to control objectives.

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Fine Gap Control Using Pneumatic Servo System (공압서보시스템에 의한 미세 간극제어 시스템 설계)

  • 김동환;김영진;정대화
    • Journal of the Korean Society for Precision Engineering
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    • v.19 no.12
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    • pp.45-56
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    • 2002
  • A pneumatic servo system requiring a fine gap control in a photo-electric sensor which is used for a LCD array detection device is introduced. The gap controlled by the pneumatic servo system remains within around 50~80 ${\mu}{\textrm}{m}$, and the system possesses an effect to eliminate undesirable particles on the LCD plate by blowing air out. The air flow rate is initially controlled by a servo valve and expanded by a booster valve, thus the controlled air pressure contributes to maintaining an appropriate gap between the LCD plate and photo-electric sensor An air floating plate of two degrees of freedom is designed and fabricated, and a fine tilting motion control is also implemented by assigning different gap commands. The pressure control and direct gap control are proposed, and each performance is verified experimentally.