Optimal tuning of biaxial servomechanisms using a cross-coupled controller
- Authors
- Bae, Ho-Kyu; Chung, Sung Chong
- Issue Date
- Oct-2006
- Publisher
- 대한기계학회
- Keywords
- Contour error; Cross-coupled control; Kharitonov' s theorem; Optimal tuning
- Citation
- Technical Paper - Society of Manufacturing Engineers, v.TP06PUB46, pp.1 - 10
- Indexed
- SCOPUS
- Journal Title
- Technical Paper - Society of Manufacturing Engineers
- Volume
- TP06PUB46
- Start Page
- 1
- End Page
- 10
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/180879
- DOI
- 10.3795/KSME-A.2006.30.10.1209
- ISSN
- 0000-0000
- Abstract
- 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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