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쿨롱 마찰력 추정과 보상을 통한 역진자 시스템의 제어 성능 개선
朴德基(Duckgee Park),左東京(Dongkyoung Chwa),洪錫敎(Suk-Kyo Hong) 대한전기학회 2006 전기학회논문지 D Vol.55 No.11
When the nonlinearities, such as friction and backlash, are not considered in the controller design, undesirable oscillations can occur in the steady-state response of a control system. This paper deals with a method to reduce oscillations that often appear in the steady-state response of a pendulum system, which is controlled by a state feedback controller based on the linearized system model. With an assumption that the oscillations shown in the steady-state are caused by the Coulomb friction, we improve the performance of stabilization and tracking by estimating and compensating for the Coulomb friction in the pendulum system. Experimental results show that the control performance can be improved sufficiently by the proposed method, when it is applied to an inverted cart pendulum which is a multi-variable unstable system. Furthermore, we could see that the Coulomb friction model used in the estimation of the friction is valid in applying the suggested method.
회귀분석을 통한 역진자 시스템의 마찰력 측정에 관한 연구
박경윤(Kyung-Yun Park),박덕기(Duckgee Park),좌동경(Dongkyoung Chwa),홍석교(Suk-Kyo Hong) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.7
This paper deals with the problem of friction measurement of an inverted pendulum system using the regression analysis and proposes a solution. The approach taken in this study is getting the friction from a regression relational expression between the motor voltage and the cart velocity of an inverted pendulum system. The result to compensate LQR (linear Quadratic Regulator) controller with the friction, which is measured in system, improved the performance of the system. Above all, the study has found that the proposed compensation of the friction reduces the oscillation of the cart position. In conclusion, the proposed method is useful when parameters in the given system model are not known.