# 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.

#### References

1. 안승욱, 최만수, 박영준, 김재훈, '2축구동방식을 갖는 대형 겐트리 로봇 시스템의 주행축 동기제어,' 한국정밀공학회 춘계학술대회논문집, pp. 436-439, 1998
2. 鎌野, 鈴木, 井內, 富塚, 'アダブテイブフイ-ドフオワ-ド制御を用いた2軸位置同期システム,' 計測自動制御學會論文集, Vol. 29, No. 7, pp. 785-791, 1993
3. 後藤, 中村, 岡誠, 久良, '褘數サ一ボ系における從軸逆ダイナミクスを用いた主 軸位置同期制御法,' 計測自動制御學會論文集, Vol. 30, No. 6, pp. 669-676, 1994
4. 中村, 冷水, 久良, '主軸縱軸關係をもつメカトロサ一ボ系の主軸位置同期を圖った高精度輪郭制御法,' 計測自動制御學會論文集, Vol. 33, No. 4, pp. 274-279, 1997
5. 변정환, 정석원, 양주호, '다축구동시스템의 정밀위치동기제어(I),' 한국정밀공학회지, Vol. 13, No. 7, pp. 115-121, 1996
6. 양주호, 변정환, 김영복, 정석권, '다축구동시스템의 정밀위치동기제어(II),' 한국정밀공학회지, Vol. 14, No. 3, pp. 98-106, 1997
7. Ogata, K., System Dynamics, PRENTICE HALL, pp. 214-217, 1992
8. Zhou, K. and Khargonekar, P. P., 'An Algebraic Riccati approach to $H_{\infty}$ optimization,' Systems & Control Letter, Vol. 11, pp. 85-90, 1988 https://doi.org/10.1016/0167-6911(88)90080-1
9. Doyle, J. C., Glover, K., Khargonekar, P. P. and Francis, B. A., 'State-space solutins to standard $H_2$ and $H_{\infty}$ control problems,' IEEE Transactions on Automatic Control, Vol. 34, No. 8, pp. 831-847, 1989 https://doi.org/10.1109/9.29425
10. Glover, K., and Doyle, J. C., 'State-Space Formulae for All Stabilizing Controllers that Safety an $H^{\infty}$-norm Bound and Relations to Risk Sensitivity,' System and Control Letters, Vol. 11-2, pp. 167-172, 1988
11. 杉江俊治, $H_{\infty}$制御の基礎, システム制御精報學會編, pp. 49-71, 1992
12. 美多勉, 劉康志, 栗山和信, '盧軸上に極をもつ重みを許す $H_{\infty}$制御系の設計,' 計測自動制御學會論文集, Vol. 29, No. 11, pp. 1320-1329, 1993
13. Safonov, M. G., Limebeer, D. J. N. and Chiang, R. Y., Robust Control Toolbox User's Guide, The Mathwork, 1992