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TDC 제어기의 개념을 이용한 2자유도 로봇의 새로운 PID 제어기 게인 튜닝 방법
이정완(Lee Jeong-Wan),현병록(Hyun Byung-Rok) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
This paper suggested a new PID controller gain tuning method of 2-DOF robot manipulator. The proposed method is based on the concept of TDC. Based on the companion of discrete PID controller and TDC, a new design method for PID controller using the concept TDC. Through MATLAB simulation for the second order non-linear plant and experiment on 2-DOF robot, the effectiveness of the proposed method is confirmed. The proposed method could solve the problem of difficulty in gain tuning of existing PID controller. From the experiment on a robot position control, it has be shown that the proposed method may be effectively used in a real control system