• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.8
• /
• pp.60-70
• /
• 1998

A harmonic drive is compact torque transmission device with no backlash which is widely applied in industrial field to transmit torque precisely. However, one of the disadvantages of harmonic drives is the existence of mechanical flexibility caused by its structural properties, which imposes great limitation on designing precise controller This paper proposes a nonlinear controller for synchronous operation of DC servo-motors with harmonic drive, using Integrator Backstepping method. Furthermore, an alternative algorithm for serial type synchronous operation of multiple DC servo-motors is proposed. Simulation results by SIMULINK for proposed controller shows considerably small error and rapid approach to reference input, which can be adapted to industrial applications.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.3
• /
• pp.234-242
• /
• 2007

A Concurrent Relay-PID controller (CRPID) for motor position servo systems is proposed in this paper. The proposed controller is composed of a deadband-relay subcontroller and a parallel PID subcontroller. The deadband-relay subcontroller is capable of improving the transient system performance while the PID subcontroller is responsible for near steady state system regulation. Systematic design methods for various controller components are developed. Design procedures are illustrated by an example. The proposed hybrid scheme is applied to a DC motor position servo system. Both numerical and experimental results demonstrate that the proposed controller performs satisfactorily and is superior to PID control alone.

• Proceedings of the KIEE Conference
• /
• 2004.10a
• /
• pp.43-45
• /
• 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 get the digitized data this procedure is implemented and the experiments controling a AC servo system.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.52 no.10
• /
• 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.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.25 no.3B
• /
• pp.570-576
• /
• 2000

This paper proposed LQ-Servo PI controller by considering LQ-Servo structure as PI controller with a partial state feedback and concerns about the development of the flexible design algorithm by introducing weights to the design parameters of the previous LQ-Servo design method. the propose algorithm improves the matchings of the maximum and minimum singular values at high and low frequencies of the design loop transfer function as well as its loop shaping for performance.

• Proceedings of the KIEE Conference
• /
• 2007.07a
• /
• pp.1722-1723
• /
• 2007

This paper describes a simple method to reduce rotation angle error of mobile robot using omni-wheel[3](omni-bot). This method can be applied to not only omni-bot, but also other robot with a large number of servo motor. Robot using many servo motor as omni-bot is complicated for hardware and software, each servo motor has difficulty in synchronizing. Three servo motor, three omni-wheel and three serial servo motor controller is used, PC or Micro Processor interface with the serial servo controller through "SSC100" protocol. In order to check the improvement of the proposed serial servo synchronization compared to existing sequential communication method. comparing object is rotation angle error of omni-bot. The results of this make building of omni-bot system easy and decrease rotation angle error.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.276-281
• /
• 1989

Comparison 3-port servo system with 4-port is made to obtain optimal design for heavy and unidirectional hydraulic system, It is concluded that 3-port servo system it more adequate than 4-port for the heavy load system which is usually operated at lower frequencies. High performance electro-hydraulic position controller is designed using 3-port servo valve. It includes dynamic pressure feedback as a inner loop and position feedback as a outer loop.

• Proceedings of the Korea Institute of Convergence Signal Processing
• /
• 2003.06a
• /
• pp.161-164
• /
• 2003

This research presents the parallel control scheme of PID servo-driver for shaping of the curved glass. The designed system consists of a PC, main controller and 11 servo-drivers. Each elements are connected by using RS-232C and 8-bit bus communication. In order to guarantee the stability and the control performance, we use the LM629, a precision PID motion controller, and LMD18200, a H-bridge on the servo-drivers. PC calculates position values of 11 DC motors by using the pre-determined curvature value and offers the user interface environment operator.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10a
• /
• pp.342-345
• /
• 1996

This paper is dealing with a design of linear controller so that the plant output is regulated to follow a reference model output when the plant equation is described by a class of nonlinear time-varying control systems.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.732-735
• /
• 1997

Variable Structure Controller(VSC) is usually known to have robustness to bounded exogenous disturbances. The robustness is attributed to the discontinuous term in the control input. However, this discontinuous term also causes an undesirable effect called chattering. To alleviate chattering, a hybrid controller consisting of VSC and Fuzzy Logic Controller(FLC) is proposed, which belongs to the category of Fuzzy Sliding Mode Controller(FSMC). The role of FLC in FSMC is to replace a fixed gain of a discontinuous term with a time-varying one based on a specified rule base. The characteristics of proposed controller are shown to be similar to those of VSC with a saturation function instead of sign function. The only remarkable difference is the nonlinearity whose form can be adjusted by free parameters, normalize gain, denormalize gain, and membership functions. Applied to AC servo motor, the proposed controller is compared with VSC in a regulation problem as well as a speed tracking problem. The simulation results show a substantial chatter reduction.