• 제목/요약/키워드: Servo Control

검색결과 1,724건 처리시간 0.03초

여유 자유도에 대한 조종력 배분을 통한 원격작업용 서보 매니퓰레이터의 내고장 제어 (Fault Tolerant Control of a Servo Manipulator for Teleoperation by Control Allocation to Redundant Joints)

  • 진재현;박병석;안성호;윤지섭
    • 대한전기학회논문지:시스템및제어부문D
    • /
    • 제53권4호
    • /
    • pp.235-245
    • /
    • 2004
  • In this paper, fault tolerant mechanisms are presented for a servo manipulator system designed to operate in a hot cell. A hot cell is a sealed and shielded room to handle radioactive materials, and it is dangerous for people to work in the hot cell. So, remote operations are necessary to handle the radioactive materials in the hot cell. KAERI has developed a servo manipulator system to perform such remote operations. However, since electric components such as servo motors may fail by radiation, fault tolerant mechanisms have to be considered. For fault tolerance of the servo manipulator system, duplication mechanism increasing the reliability of the transport's driving motors and reconfiguration algorithm accommodating the slave's motor failure have been presented. The reconfiguration algorithm recovering the end effector's motion in spite of one motor's failure is based on control allocation redistributing redundant axes. The constrained optimization method and pseudo inverse method have been adopted for control allocation. Simulation examples and real test results have been presented to verify the Proposed methods.

광 픽업 조정기를 위한 디지털 서보 시스템의 모델링 (Modeling of Digital Servo System for Optical Pickup Tuner)

  • 곽한섭;백광렬
    • 제어로봇시스템학회논문지
    • /
    • 제5권1호
    • /
    • pp.47-53
    • /
    • 1999
  • CD-ROM(Compact Disk-Read Only Memory) is very attractive storage media because it has much storage space but is small size and portable. Optical pickup, one of the most important parts for reading data on a CD-ROM, is not produced tuned up. For the use of goods, we must tune up the optical pickup by adjusting the screw for adjustment. First, we developed analog servo system for optical pickup tuners. For eliminating some problems in analog servo system, this paper designed the modeling of digital servo system for optical pickup tuner. Though the characteristics of optical pickup are changed, the digital servo system for optical pickup tuner can easily apply to all pickup, and can reduce the measurement error among the optical pickup tuners. For the purpose of confirming the designed digital servo system, we produced data that specify the disk vibration and the disk eccentricity, and simulated servo system with MATLAB.

  • PDF

고성능 DSP를 이용한 AC 서보 모터의 벡터제어 (Vector control of AC servo motor using high Performance DSP)

  • 최치영;홍선기
    • 대한전기학회:학술대회논문집
    • /
    • 대한전기학회 2003년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
    • /
    • pp.258-261
    • /
    • 2003
  • This paper is a studying of the vector control of AC servo motor using a high performance DSP(TMX320F2812). This DSP has many special peripheral circuits to drive a AC Servo motor as AD converter, QEP and so on. It makes us reduce the time of developing a control system and also can be simple size controller. We use vector control algorithm for instantaneous torque control and SVPWM algorithm by offset voltage methods.

  • PDF

Position Control of an AC Servo Motor Using Sliding Mode Controller with Disturbance Estimator

  • Jung-Woo;Seung-Bok;Hyun-Jeong;Joon-Ho
    • International Journal of Precision Engineering and Manufacturing
    • /
    • 제5권4호
    • /
    • pp.14-20
    • /
    • 2004
  • In this work, a new control methodology to achieve accurate position control of an AC servo motor subjected to external disturbance is proposed. Unlike conventional sliding mode controller which requires a prior knowledge of the upper bound of external disturbance, the proposed technique, called sliding mode controller with disturbance estimator (SMCDE), can offer robust control performances without a prior knowledge of the disturbance bound. The SMCDE is featured by an integrated average value of the imposed disturbance over a certain sampling period. By doing this, undesirable chattering phenomenon in the estimation process can be effectively alleviated. The benefits of the proposed control methodology are empirically demonstrated on AC servo motor and control responses are evaluated through a comparative work between the proposed and conventional control schemes.

Design of a Dual-Drive Mechanism for Precision Gantry

  • Park, Heung-Keun;Kim, Sung-Soo;Park, Jin-Moo;Daehie Hong;Cho, Tae-Yeon
    • Journal of Mechanical Science and Technology
    • /
    • 제16권12호
    • /
    • pp.1664-1672
    • /
    • 2002
  • Gantry mechanisms have been widely used for precision manufacturing and material handling in electronics, nuclear, and automotive industries. Dual-drive servo mechanism is a way to increase control bandwidth, in which two primary axes aligned in parallel are synchronously driven by identical servo motors. With this mechanism, a flexible coupling (compliance mechanism) is often introduced in order to avoid the damage by the servo mismatch between the primary drives located at each side of gantry. This paper describes the design guidelines of the dual-drive servo mechanism with focus on its dynamic characteristics and control ramifications. That is, the effect on the system bandwidth which is critical on the system performance, the errors and torques exerted on guide ways in case of servo mismatch, the vibration characteristics concerned with dynamic error and settling time, and the driving force required at each axis for control are thoroughly investigated.

고정소수연산 DSP 기반 AC 서보모터 제어기의 소수연산 개선에 관한 연구 (A study on the improvement of floating point operation for AC servo motor controller based on fixed point DSP)

  • 황인성;최치영;홍선기
    • 대한전기학회:학술대회논문집
    • /
    • 대한전기학회 2004년도 하계학술대회 논문집 B
    • /
    • pp.1196-1198
    • /
    • 2004
  • This paper represents the improvement of floating point operation for AC servo motor controller based on fixed point operation DSP. TMS320F2812 has fixed point operation processing structure. The controller parameters are modified to the digitized data by scaling the original parameters. TMS320F 2812 is a 32-bit processor, and it could have enough accuracy to got the digitized data this procedure is implemented and the experiments controling a AC servo system.

  • PDF

저전압 고성능 DSP를 이용한 AC 서보모터 제어 (AC Servo Motor Control Using Low Voltage High Performance DSP)

  • 최치영;홍선기
    • 반도체디스플레이기술학회지
    • /
    • 제3권1호
    • /
    • pp.21-26
    • /
    • 2004
  • Recently with the development of power switching device and DSP which has peripheral devices to control AC servo system, the servo technology has met a new development opportunity. Those things make it possible to reduce the time of developing a AC servo system. Fixed point DSP such as TMS320F240x, and TMS320F28x series have a disadvantage in calculating floating number where TMS320C32 or TMS320C31 are floating point DSP. However they usually become a complex hardware system to implement the AC servo system and it increases the cost. In this study, a DSP based AC servo system with a 3-phase PMSM is proposed. The newly produced DSP TMX320F28l2-version C which has the performance of fast speed, 150MIPS, and a rich peripheral interface such as a 12bit high speed AD converter, QEP(Quadrature Encoder Pulse) circuit, PDPINT(Power Drive Protect Interrupt), SVPWM module and dead time module are used. This paper presents a method to overcome fixed point calculating using scaling all parameters. Also space vector pulse width modulation (SVPWM) using off-set voltage and a digital PI control are implemented to the servo system.

  • PDF

마커인식과 혼합 비주얼 서보잉 기법을 통한 이동로봇의 자세 안정화 제어 (Posture Stabilization Control for Mobile Robot using Marker Recognition and Hybrid Visual Servoing)

  • 이성구;권지욱;홍석교;좌동경
    • 전기학회논문지
    • /
    • 제60권8호
    • /
    • pp.1577-1585
    • /
    • 2011
  • This paper proposes a posture stabilization control algorithm for a wheeled mobile robot using hybrid visual servo control method with a position based and an image based visual servoing (PBVS and IBVS). To overcome chattering phenomena which were shown in the previous researches using a simple switching function based on a threshold, the proposed hybrid visual servo control law introduces the fusion function based on a blending function. Then, the chattering problem and rapid motion of the mobile robot can be eliminated. Also, we consider the nonlinearity of the wheeled mobile robot unlike the previous visual servo control laws using linear control methods to improve the performances of the visual servo control law. The proposed posture stabilization control law using hybrid visual servoing is verified by a theoretical analysis and simulation and experimental results.

고이득 관측기를 이용한 센서없는 직류서보전동기의 속도 제어 (Speed-Sensorless Control of DC Servo Motor Using a High Gain Observer)

  • 김상훈;김낙교
    • 대한전기학회논문지:시스템및제어부문D
    • /
    • 제52권10호
    • /
    • pp.583-590
    • /
    • 2003
  • This paper deals with speed control of DC servo motor using a high gain obserber. It was designed to estimate rotor speed of DC servo motor and it carries out speed control from the feedback of the estimated speed signal. Also, PI controller was used in speed controller. In order to verify the performance of the high gain observer which is proposed in this paper, it is compared estimate performance of Luenberger Observer and High Gain Observer with the computer simulation. Effectiveness of the proposed high gain observer is proved from the experiment to compare the case with a speed sensor to the case with high gain observer in the speed control of DC servo motor.

직류 서보 전동기 제어를 위한 퍼지-슬라이딩 관측기 설계 (Design of a Fuzzy-Sliding Observer for Control of DC Servo Motor)

  • 고봉운;김낙교
    • 대한전기학회논문지:시스템및제어부문D
    • /
    • 제53권5호
    • /
    • pp.338-344
    • /
    • 2004
  • This paper presents a sensorless speed control of a DC servo motor using a fuzzy-sliding observer in the presences of load disturbances. A fuzzy-sliding observer is proposed in order to estimate the speed of a motor rotor. First, a sliding observer is used to estimate the derivative of the armature current directly using the armature current mesured in the DC servo motor. Second, the optimal gain of the Luenberger observer is set up using the fuzzy control. Experimental results show the good performance in the DC servo motor system with the proposed fuzzy-sliding observer.