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Setting Procedure of a Robust Torsional Compensation Scheme Using a Shaft Angle Control Loop
Ricardo Leon,Guillermo Ramirez,Anibal Valenzuela 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In a related paper the authors developed a robust dynamic compensation scheme for high performance servo drives based on a shaft angle control loop. First, this paper establishes the physical relationship between the state feedback of load and motor speed and position differences and the proportional and derivative actions of the proposed control loop. Based on this relationship and a sensitivity analysis on the Bode diagram, a setting procedure for the controller gains is developed. Evaluation is done in a 2-mass servo drive model that includes the delays and quantization due to digital implementation, and a full-order observer of the unavailable signals.