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듀얼 스테이지 서보 시스템을 이용한 영상 추적장치의 안정화 제어
최영준(Y. J. Choi),강민식(M. S. Kang),유건환(K. H. Ryu),이승현(S. H. Lee) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
In this paper, a dual stage servo mechanism has been developed for image tracking system to improve transient control performances such as small rise time, small overshoot, small settling time, etc. A secondary stage, a platform, actuated by a pair of electro-magnets is mounted on a conventional elevation gimbal. In this mechanism, the gimbal provides large range but slow motion and the platform provides small range but fast positioning. A sliding mode control is applied to the platform positioning to attain robust performances and stability in the presence of the disturbance related to dynamic coupling of the gimbal and the platform. Results from experiments illustrate that the suggested dual stage mechanism controlled by the sliding mode control is effective in improving transient responses and attenuating the disturbance related with dynamic coupling.