• Title/Summary/Keyword: robust servo system

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A Synthesis for Robust Servo System Based on Mixed $H_2/H_{\infty}$ Control

  • Park, Yeon-Wook;Lee, Kum-Won
    • 제어로봇시스템학회:학술대회논문집
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    • 1999.10a
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    • pp.88-91
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    • 1999
  • The purpose of this paper is to propose an approach to design a robust servo controller based on the Mixed H$_2$/H$\sub$$\infty$/ theory. In order to do this, we first modify the generalized plant for the usual H$\sub$$\infty$/ servo problem to a structure of the Mixed H$_2$/H$\sub$$\infty$/ minimization problem by virtue of the internal model principle. By doing this, we can divide specifications adopted for robust servo system design into H$_2$and H$\sub$$\infty$/ performance criteria, respectively. Then, the mixed H$_2$/H$\sub$$\infty$/ problem is solved in order to find the best solution, by which we can minimize H$_2$-norm of the transfer function under the condition of H$\sub$$\infty$/-norm value, through Linear Matrix Equality (LMI).

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

  • Kwon, Sang-Joo;Chung, Wan-Kyun;Youngil Youm
    • 제어로봇시스템학회:학술대회논문집
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    • 1999.10a
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    • pp.317-320
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    • 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.

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A study on the development of $H_{\infty}$ 2-DOF controller for servo motors (서보모터 제어를 위한 $H_{\infty}$ 2-자유도 제어기 개발에 관한 연구)

  • Park, Sung-Chun;Park, Se-Hwa;Kim, Hee-Jun;Choi, B.W.
    • Proceedings of the KIEE Conference
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    • 1999.07g
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    • pp.3073-3076
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    • 1999
  • In this paper, $H_{\infty}$ two-degree-of freedom(2-DOF) model following control method is applied for the control of a brushless servo motor to achieve high robust performance. The proposed robust control algorithm designed to meet the robust stability and performances present that the robust control method is superior to conventional control methods in controlling the speed and position of a servo motor. The designed controller is implemented as an outer loop controller to a factory designed motor-servopack system. It is illustrated by simulations that the proposed method is effective to control servo systems.

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Robust Controller for DC Servo Motor drive taking Disturbance and Parameter Variations into account (외란과 파라미터 변화를 고려한 직류 서어보 전공기 구동을 위한 강인성 제어기)

  • Yoon, Byung-Do;Jeong, Tak-Hee
    • Proceedings of the KIEE Conference
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    • 1988.11a
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    • pp.418-421
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    • 1988
  • A disturbance and parameter variations cause a steady and/or transient error in the conventional de servo motor drive system. In this paper robust control system for dc servo motor drive taking disturbance and parameter variations into account is proposed. The proposed control system compensates rapidly the state error caused by disturbance and parameter variations. Simulation results show that the proposed method is robust for the steady and transient response in the presence of both disturance and parameter variations.

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Robust Speed Control of DC Servo Motor Using PID-Neural Network Hybrid Controller (PID-신경망 복합형 제어기를 이용한 직류 서보전동기의 강인한 속도제어)

  • 박왈서;전정채
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.12 no.1
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    • pp.111-116
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    • 1998
  • Robust control for DC servo motor is needed according to the highest precision of industrial automation. However, when a motor control system with PID controller has an effect of load disturbance, it is very difficult to guarantee the robustness of control system. As a compensation method solving this problem, in this paper, PID-neural network hybrid control method for motor control system is presented. The output of neural network controller is determined by error and rate of error change occurring in load disturbance. The robust control of DC servo motor using neural network controller is demonstrated by computer simula tion.a tion.

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Robust Control of Horizontal-Shaft Magnetic Bearing System considering Pole Assignment Region (극 영역을 고려한 횡축형 자기 베어링 시스템의 로버스트 제어)

  • 김창화;추만석;양주호
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.21-21
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    • 2000
  • In this paper, we design the state feedback gain using linear matrix inequality(LMI) to the multiobjective synthesis, in the magnetic bearing system with integral type servo system. The design objectives can be a H$\_$$\infty$/ performance, asymptotic disturbance rejection, time-domain constraints, on the closed-lnp pole location. To the end, we investigated the validity of the designed controller through results of simulation.

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$H_\infty$ Depth Controller Design for Underwater Vehicles (수중운동체의 $H_\infty$ 심도제어기 설계)

  • 이만형;정금영;김인수;주효남;양승윤
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.5
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    • pp.345-355
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    • 2000
  • In this paper, the depth controller of an underwater vehicle based on an $H_\infty$ servo control is designed for the depth keeping of the underwater vehicle under wave disturbances. The depth controller is designed in the form of the $H_\infty$ servo controller, which has robust tracking property, and an $H_\infty$ servo problem is considered for the $H_\infty$ servo controller design. In order to solve the $H_\infty$ servo problem for the underwater vehicle, this problem is modified as an $H_\infty$ control problem for the generalized plant that includes a reference input mode, and a suboptimal solution that satisfies a given performance criteria is calculated with the LMI (Linear Matrix Inequality) approach. The $H_\infty$ servo controller is designed to have robust stability about the perturbation of the parameters of the underwater vehicle and the robust tracking property of the underwater vehicle depth under wave force and moment disturbances. The performance, robustness about the uncertainties, and depth tracking property, of the designed depth controller is evaluated by computer simulation, and finally these simulation results show the usefulness and applicability of the proposed $H_\infty$ depth control system.

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A Study on the Robustness of Differential Supervisory Controller From Servo Control System (서보 제어시스템에서 미분 관리제어기의 강인성에 관한 연구)

  • Park, Wal-Seo;Lee, Sung-Soo;Oh, Hoon
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.17 no.1
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    • pp.112-115
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    • 2003
  • Robust control for servo control system in needed according to the highest precision of industrial automation. However, when a servo control system has an effect of disturbance, it is very difficult to guarantee the robustness of control system. As a compensation method solving this problem in this paper, Hybrid control method of Main controller(PIU)-Differential Supervisory controller is presented. Main controller is operated as a feedback controller. Differential Supervisory controller as a assistant controller is operated when state in unstable disturbance. The robust control function of Differential Supervisory controller is demonstrated by Speed control of Motor.

Mechanical Parameter Identification of Servo Systems using Robust Support Vector Regression (Support Vector Regression을 이용한 서보 시스템의 기계적 상수 추정)

  • Cho Kyung-Rae;Seok Jul-Ki
    • The Transactions of the Korean Institute of Power Electronics
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    • v.10 no.5
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    • pp.468-480
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    • 2005
  • The overall performance of AC servo system is greatly affected the uncertainties of unpredictable mechanical parameter variations and external load disturbances. To overcome this problem, it is necessary to know different parameters and load disturbances subjected to position/speed control. This paper proposes an on-line identification method of mechanical parameters/load disturbances for AC servo system using support vector regression(SVR). The experimental results demonstrate that the proposed SVR algorithm is appropriate for control of unknown servo systems even with time-varying/nonlinear parameters.

Robust Tracking Control Based on Intelligent Sliding-Mode Model-Following Position Controllers for PMSM Servo Drives

  • El-Sousy Fayez F.M.
    • Journal of Power Electronics
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    • v.7 no.2
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    • pp.159-173
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    • 2007
  • In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.