Position Synchronous Control of a Two-Axes Driving System by H$\infty$ Approch

H$\infty$ 제어기법을 이용한 2축 구동 시스템의 위치동기제어

  • 변정환 (여수대학교 기관공학과) ;
  • 여동준 (여수대학교 기관공학과)
  • Published : 2001.02.01

Abstract

In this study, a methodology of synchronous control which can be applied to position synchronization of a two-axes driving system has been developed. The synchronous error is caused by model uncertainties and torque disturbance of each axis. To overcome these problems, the proposed synchronous control system has been composed of two speed controllers and one synchronous controller. The speed controllers based on PID control law are aimed at the following to speed reference. And the parameters of speed controllers have been designed in order that speed response of the second axis corresponds with one of first axis. Especially, considering to model uncertainties of each axis, the synchronous controller has been designed using H$\infty$ control theory. The controller eliminates the synchronous error by controlling speed of the second axis. The effectiveness of the proposed method has been verified through simulation.

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