• Title/Summary/Keyword: servo controller

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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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    • 제7권2호
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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.

산업용 서보 구동 시스템을 위한 자동 P/PI 속도 제어기 설계 (Automatic P/PI Speed Controller Design for Industry Servo Drives)

  • 배상규;석줄기;김경태;이동춘
    • 대한전기학회논문지:전기기기및에너지변환시스템부문B
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    • 제52권12호
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    • pp.616-623
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    • 2003
  • Conventional P/PI speed controller of today's servo drives should be manually tuned the controller switching set-point by trial-and-errors, which may translate the drive system down-time and loss of productivity. The adjustable drive performance is heavily dependent on the quality of the expert knowledge and becomes inadequate in applications where the operating conditions change in a wide range, i.e., tracking command, acceleration/deceleration time, and load disturbances. In this paper, the demands on simple controls/setup are discussed for industry servo drives. Analyzing the frequency content of motor torque command, P/PI control mode switching is automatically performed with some prior knowledge of the mechanical dynamics. The dynamic performance of the proposed scheme assures a desired tracking response curve with minimal oscillation and settling time over the whole operating conditions. For comprehensive comparison of traditional P/PI control scheme, extensive test is carried out on actual servo system.

Model 추종형 Servo Controller에 의한 위치제어계의 설계 (The Design of Position Controll System by Model Following Servo Controller)

  • 장기효;하홍곤;홍창희
    • 한국통신학회논문지
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    • 제16권1호
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    • pp.1-12
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    • 1991
  • In this paper the design and construction of discrete model following servo dontroller on the position control system is proposed. The operational time delay of the plant in the controller which is proposed, is considered and the system which is added by the integral compensation in first order difference equation is constructed. By applying the optimal regulator method to the system, the method which find the optimal state feedback gain is developed theoretically. The output of a model which is correspond to a DC Servo motor follow quickly the speed response of a DC Servo motor and the velocity error in ansteady-state is reduced in zero and the position response is controlled correctly, the performance of the controller is contoller is confirmed by Computer Simulation.

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CNC 제어기와 서보시스템의 연결방식에 따른 특성조사 (Performance investigation of CNC system with interface between CNC controller and servo system)

  • 이현철;윤서영;이은호
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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    • pp.392-397
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    • 1993
  • Generally machine tools can be divided into three components : NC Controller, the electrical drives and the mechanical transmission elements. For high speed, high precision machining, high performance control of servo system must be accommodated and one must carefully define the interface among three components. In this paper, we suggest a way to assist future development of CNC controller by investigating the characteristics resulting from different interface between CNC controller and servo system.

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Implementation of an Adaptive Robust Neural Network Based Motion Controller for Position Tracking of AC Servo Drives

  • Kim, Won-Ho
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • 제9권4호
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    • pp.294-300
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    • 2009
  • The neural network with radial basis function is introduced for position tracking control of AC servo drive with the existence of system uncertainties. An adaptive robust term is applied to overcome the external disturbances. The proposed controller is implemented on a high performance digital signal processing DSP TMS320C6713-300. The stability and the convergence of the system are proved by Lyapunov theory. The validity and robustness of the controller are verified through simulation and experimental results

Hybrid PD-Servo State Feedback Control Algorithm for Swing up Inverted Pendulum System

  • Nundrakwang, Songmoung;Benjanarasuth, Taworn;Ngamwiwit, Jongkol;Komine, Noriyuki
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.690-693
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    • 2005
  • In this paper, a hybrid PD-servo state feedback control algorithm for swing up inverted pendulum system is proposed. It consists of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position to around the upright position and the second part is the servo state feedback control for stabilizing the inverted pendulum in upright position. The first controller is PD controller and it is tuned to control the position of the pendulum by moving the cart back and forth until the pendulum swings up around the upright position. Then the second controller will be switched to stabilize the inverted pendulum in its upright position. The controller in this stage is the servo state feedback controller designed by pole placement. Experimental results of PD type swinging up control system, of stabilizing servo state feedback control system and of the proposed hybrid PD-servo state feedback control system to swing up and stabilize inverted pendulum show that the proposed method is effective and reliable for actual implementation while it is simple.

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직류 서보 전동기의 속응성 및 안정성 향상을 위한 개선된 뉴로-퍼지 제어기의 설계 (Design of Improved Neuro-Fuzzy Controller for the Development of Fast Response and Stability of DC Servo Motor)

  • 강영호;김낙교
    • 대한전기학회논문지:시스템및제어부문D
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    • 제51권6호
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    • pp.252-257
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    • 2002
  • We designed a neuro-fuzzy controller to improve some problems that are happened when the DC servo motor is controlled by a PID controller or a fuzzy logic controller. Our model proposed in this paper has the stable and accurate responses, and shortened settling time. To prove the capability of the neuro-fuzzy controller designed in this paper, the proposed controller is applied to the speed control of DC servo motor. The results showed that the proposed controller did not produce the overshoot, which happens when PID controller is used, and also it did not produce the steady state error when FLC is used. And also, it reduced the settling time about 10%. In addition, we could by aware that our model was only about 60% of the value of current peak of PID controller.

볼빔 시스템에 대한 계층적 공정 경쟁 유전자 알고리즘을 이용한 최적 퍼지 Cascade 제어기 설계 (Design of Optimized Fuzzy Cascade Controller Based on HFCGA for Ball & Beam System)

  • 장한종;오성권;김현기
    • 전기학회논문지
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    • 제58권2호
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    • pp.391-398
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    • 2009
  • In this study, we introduce the design methodology of an optimized fuzzy cascade controller with the aid of hierarchical fair competition-based genetic algorithm(HFCGA) for ball & beam system. The ball & beam system consists of servo motor, beam and ball, and remains mutually connected in line in itself. The ball & beam system determines the position of ball through the control of a servo motor. The displacement change the position of ball leads to the change of the angle of the beam which determines the position angle of a servo motor. Consequently the displacement change of the position of the moving ball and its ensuing change of the angle of the beam results in the change of the position angle of a servo motor. We introduce the fuzzy cascade controller scheme which consists of the outer(1st) controller and the inner(2nd) controller as two cascaded fuzzy controllers, and auto-tune the control parameters(scaling factors) of each fuzzy controller using HFCGA. The inner controller controls the position of lever arm which corresponds to the position angle of a servo motor and the outer controller decides the set-point value of the inner controller. HFCGA is a kind of parallel genetic algorithms(PGAs), and helps alleviate the premature convergence being generated in conventional genetic algorithms (GAs). For a detailed comparative analysis from the viewpoint of the performance results and the design methodology, the proposed method for the ball & beam system which is realized by the fuzzy cascade controller based on HFCGA, is presented in comparison with the conventional PD cascade controller based on serial genetic algorithms.

LQ 서보제어기를 이용한 벨트구동 시스템의 변위제어 (The Displacement Control of a Belt Drive System using LQ Servo Controller)

  • 권세현
    • 한국컴퓨터산업학회논문지
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    • 제7권3호
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    • pp.155-162
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    • 2006
  • 벨트구동 시스템은 저렴한 비용, 고속 그리고 긴 이송행정 등의 이유로 screw 구동 시스템을 이용하는 것보다 더 바람직하다. 그렇지만 벨트구동 시스템은 벨트의 유연성, 마찰, 진동, 뒤틀림 등의 다른 비선형 특성으로 인하여 근본적으로 제어하기가 어려워진다. 본 연구에서 벨트구동 시스템에 적용할 제어기의 서보제어 알고리즘과 설계방법을 제시한다. 본 논문에서, 벨트구동 시스템에 대한 개선된 제어시스템의 최적 설계를 실현할 수 있는 LQ 서보제어기를 제안하였다. 제어시스템에 대한 이러한 수학적 모델 기법은 상태 공간 형식으로부터 구할 수 있다. 끝으로, 제안한 서보제어기의 효율성을 컴퓨터 시뮬레이션 결과를 통하여 검증하였다.

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고밀도 디스크 드라이브의 안착시간 최소화 제어 (Control For Minimizing Settling Time in High-Density Disk Drives)

  • 강창익;김창환;임충혁
    • 제어로봇시스템학회논문지
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    • 제9권1호
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    • pp.10-21
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    • 2003
  • During seek operation in disk drives, the recording head is moved toward desired track by seek servo controller and then is settled onto the center of the desired track by settling servo controller. If the head speed at the start of settling servo control is not slow, it may produce overshoot relative to the center of track and thus extend the settling time. The degradation in settling performance will be more severe as the track width becomes smaller for higher density of data storage. We design a new settling servo controller for minimizing settling time based on the pole-zero cancellation. In order to cancel slow poles in settling response, we apply discrete pulse signals to the system in addition to the state feedback control. For exact pole-zero cancellation, we consider the dynamics of power amplifier used for actuator current regulation and the effects of delay in control action. In addition, we present system parameter identification algerian for the robustness of our controller to system parameter variation. In order to demonstrate the practical use of our controller, we present experimental results obtained by using a commercially available disk drive.