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High-Performance Tracking Controller Design for Rotary Motion Control System
Youngduk Kim(김영덕),Su Hyeon Park(박수현),Seonghyun Ryu(류성현),Chul Ki Song(송철기),Ho Seong Lee(이호성) 한국기계가공학회 2021 한국기계가공학회지 Vol.20 No.11
A robust tracking controller design was developed for a rotary motion control system. The friction force versus the angular velocity was measured and modeled as a combination of linear and nonlinear components. By adding a model-based friction compensator to a nominal proportional–integral–derivative controller, it was possible to build a simulated control system model that agreed well with the experimental results. A zero-phase error tracking controller was selected as the feedforward tracking controller and implemented based on the estimated closed-loop transfer function. To provide robustness against external disturbances and modeling uncertainties, a disturbance observer was added in the position feedback loop. The performance improvement of the overall tracking controller structure was verified through simulations and experiments.