• 제목/요약/키워드: servo controller

검색결과 924건 처리시간 0.028초

이산형 칼만 필터를 이용한 서보 시스템의 추정자 설계 (Design of an Estimator for Servo Systems using Discrete Kalman Filter)

  • 신두진;허욱열
    • 대한전기학회논문지:전력기술부문A
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    • 제48권8호
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    • pp.996-1003
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    • 1999
  • This paper propose a position-speed controller with an estimator which can estimate states and disturbance. The overall control system consists of two parts: the position-speed controller and an estimator. The Kalman filter applied as state-feedback controller is an optimal state estimator applied to a dynamic system that involves random perturbations and gives a linear, unbiased and minimum error variance recursive algorithm to optimally estimate the unknown state. Therefore, we consider the error problem about the servo system modeling and the measurement noise as a stochastic system and implement a optimal state observer, and enhance the estimate performance of position and speed using that. Using two-degree-of freedom(TDOF) conception, we design the command input response and the closed loop characteristics independently. The servo system is to improve the closed loop characteristics without affecting the command imput response. The characteristics of the closed loop system is improved by suppressing disturbance torque effectively with the disturbance observer using a inverse-transfer matrix. Therefore, the performance of overall position-speed controller is enhanced. Finally, the performance of the proposed controller is exemplified by some simulations and by applying the real servo system.

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2자유도 보상법에 의한 직류서보전동기의 강인한 속도제어시스템 구현 (Implementation of the robust speed control system for DC servo motor using TDF compensator method)

  • 김동완
    • 전기학회논문지P
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    • 제52권2호
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    • pp.74-80
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    • 2003
  • In this paper, a robust two-degree-of-freedom(TDF) the speed control system using $H_{\infty}$ optimization method and real genetic algorithm is proposed for the robust stability and the robust performance in dc servo motor system. This control system composed of feedback and feedforward controller. The feedback(FB) controller with $H_{\infty}$ optimization method is designed for real genetic algorithm that is model matching problem using mixed sensitivity function. The feedforward(FF) controller with $H_{\infty}$optimization method is minimized the error between transfer function of the optimal model and the overall transfer function. The proposed robust two-degree-of-freedom speed control system is simulated to the dc servo motor. By the simulation, feedback controller can obtain the robust stability property and feedforward controller can obtain the robust performance property under modelling error. The performance of the dc servo motor is analyzed by the experiment setting. The validity of the proposed method is verified through being compared with pid(proportional integrated differential)control system design method for the dc servo motor.

코깅 토크의 영향 저감을 위한 서보 모터 적응제어 (An adaptive control of servo motors for reducing the effect of cogging torques)

  • 이수한;허상진
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2004년도 추계학술대회 논문집
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    • pp.291-294
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    • 2004
  • Many researches have been focused on optimal designs of a pole shape in order to reduce cogging torques, which are generated between permanent magnets and slots. In this paper, an adaptive controller is proposed for reducing the effect of cogging torques in servo motors. The controller stabilizes the control system and shows an excellent trajectory tracking performance compared to the conventional PD controller.

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다각 보행 로보트의 서보 제어기 설계 (A servo controller design for a quadruped walking robot)

  • 이연정;여인택;박찬웅
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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    • pp.75-78
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    • 1987
  • This paper presents a control algorithm of servo controller for a quadruped walking robot as well as its characteristics and requirements. The control algorithm for propelling and terrain adaptive motion is described. The servo controller is being developed as a sub-project of the national project - "Development of a quadruped walking robot ". And then, this paper focuses on an overview of the current state and future works of this sub-project.b-project.

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코깅 토크의 영향 저감을 위한 서보 모터 적응제어 (An Adaptive Control of Servo Motors for Reducing the Effect of cogging Torques)

  • 이수한;허상진;신규현
    • 한국정밀공학회지
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    • 제22권6호
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    • pp.70-75
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    • 2005
  • Many researches have been focused on optimal designs of a pole shape in order to reduce cogging torques, which are generated between permanent magnets and slots. In this paper, an adaptive controller is proposed fur reducing the effect of cogging torques in servo motors. The controller stabilizes the control system and shows an excellent trajectory tracking performance compared to the conventional PD controller.

PID 학습제어기를 이용한 가변부하 직류서보전동기의 실시간 제어 (Real-Time Control of DC Sevo Motor with Variable Load Using PID-Learning Controller)

  • 김상훈;정인석;강영호;남문현;김낙교
    • 대한전기학회논문지:시스템및제어부문D
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    • 제50권3호
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    • pp.107-113
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    • 2001
  • This paper deals with speed control of DC servo motor using a PID controller with a gain tuning based on a Back-Propagation(BP) Learning Algorithm. Conventionally a PID controller has been used in the industrial control. But a PID controller should produce suitable parameters for each system. Also, variables of the PID controller should be changed according to environments, disturbances and loads. In this paper described by a experiment that contained a method using a PID controller with a gain tuning based on a Back-Propagation(BP) Learning Algorithm, we developed speed characteristics of a DC servo motor on variable loads. The parameters of the controller are determined by neural network performed on on-line system after training the neural network on off-line system.

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교류서보계의 궤환제어 구현 (Implementation of Feedback Controller on the Servo System)

  • 전삼석;박찬원
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2006년도 제37회 하계학술대회 논문집 B
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    • pp.719-720
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    • 2006
  • In the mechanical system, optimization of motion control is very essential in the aspect of automation technique progress. In the servo system, the function of controller is very important but most of the controllers have played only the role of pulse generator because the controller with main function is very expensive. In this thesis, the system was composed of PC, commonly used driver AC servo motor and a produced control board. The PC transmit a gain, a locus data to a driver and controller. At the same time, it converts imformation from the controller and convert them into data and offer an output with graph. The role of a controller is to trasmit a locus data to a driver and counting the pulse on the phase of an encoder to the PC. We have performed the experiment in order to confirm with variable PID parameter capable of the optimization of gain tuning with the counting of feedback control sensor signal with regard to the external interface into the system, such as torque. Based on the experiment result, we have confirmed as follows: First, it was confirmed that we could easily input control factors P.I Gain, constant $K_P,\;K_I$ into PC. Second, not only pulse generator function was possible, but with this pulse it was also possible to count using software with PIC chip. And third, using the multi-purpose PIC micro chip, simple operation and the formation of small size AC Servo Controller was possible.

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유전알고리즘을 이용한 강인한 DC 서보제어기의 설계 (A Design of the Robust Servo Controller for DC Servo-Motor Using Genetic Algorithm)

  • 김동완;황기현;황현준;남징락;박준호
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1999년도 하계학술대회 논문집 B
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    • pp.812-814
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    • 1999
  • In this paper, we are applied the Genetic Algorithm (GA) to design of fuzzy logic controller (FLC) for a DC Servo-Motor Speed Control. GA is used to design of the membership functions and scaling factor of FLC. To evaluate the performances of the proposed FLC, we make an experiment on FLC for the speed control of an actual DC servo-motor system with nonlinear characteristics. Experimental results show that proposed controller have better performance than those of PD controller.

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VCR용 드럼 모터의 퍼지 속도/위상 제어기 설계 (Design of fuzzy speed/phase controller for drum motor in home VCR)

  • 박귀태;이기상;박태홍;배상욱;이상락
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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    • pp.457-462
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    • 1991
  • Recently, digital techniques have been applied to servo systems of the home VCR, which result in high accuracy, high stability and a small number of parts required. The servo systems are now becoming more compex because the latest home VCRs are stringly required to have many functions. Given these circumstances, software servo concepts were introduced to the VCR servo system with microprocessor. But there are some difficulties in the conventional digital PID controller, eg. caculating the exact gains or dynamics. In this paper, we introduce FLC(Fuzzy Logic Controller) to the speed/phase control for VCR drum motor. To show the usefulness of the proposed controller, some studies are discussed by simulation and experiment.

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차륜 모델에 기초한 차량 ABS의 서보 제어기 설계 (Design of a Servo Controller for Antilock Brake Systems Based on the Automotive Tire Model)

  • 황이철
    • 동력기계공학회지
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    • 제19권3호
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    • pp.42-47
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    • 2015
  • This paper studies on the design of a servo controller for an antilock brake system(ABS) based on the car tire model. First, a nonlinear differential equation of the car tire is constructed and its linearization model is obtained by Taylor's series. Second, a servo controller based on the mathematical model is analytically designed to obtain the maximum brake force, where the tire velocity and the slip ratio of car tire are respectively controlled to the given command values. Third, it is theoretically shown that the proposed control algorithm has good usefulness in ABS.