상호결합제어기를 이용한 2축 서보메커니즘의 최적튜닝Optimal Tuning of Biaxial Servomechanisms using a Cross-coupled Controller
- Other Titles
- Optimal Tuning of Biaxial Servomechanisms using a Cross-coupled Controller
- Authors
- 정성종; 배호규
- Issue Date
- Oct-2006
- Publisher
- 대한기계학회
- Keywords
- Contour Error; 윤곽오차; Cross-coupled Control; 상호결합제어; Integrated Design; 통합설계; Kharitonov’s Theorem; 카리토노브 정리; Optimal Tuning; 최적튜닝; Robustness; 강인성; Servomechanism; 서보계
- Citation
- 대한기계학회논문집 A, v.30, no.10, pp.1209 - 1218
- Indexed
- KCI
- Journal Title
- 대한기계학회논문집 A
- Volume
- 30
- Number
- 10
- Start Page
- 1209
- End Page
- 1218
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/180842
- ISSN
- 1226-4873
- Abstract
- Precision servomechanisms are widely used in machine tool, semiconductor and flat panel display industries. It is important to improve contouring accuracy in high-precision servomechanisms. In order to improve the contouring accuracy, cross-coupled control systems have been proposed. However, it is very difficult to select the controller parameters because cross-coupled control systems are multivariable, nonlinear and time-varying systems. In this paper, in order to improve contouring accuracy of a biaxial servomechanism, a cross-coupled controller is adopted and an optimal tuning procedure based on an integrated design concept is proposed. Strict mathematical modeling and identification process of a servomechanism are performed. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including the relevant controller parameters of the servomechanism. The objective of the optimal tuning procedure is to minimize both the contour error and the settling time while satisfying constraints such as the relative stability and maximum overshoot conditions, etc. The effectiveness of the proposed optimal tuning procedure is verified through experiments.
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