- Volume 15 Issue 1
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, disturbance observers, and one synchronous controller. The speed controllers, based on the PID control law are aimed at the following to speed reference. And the parameters of speed controllers have been designed in order for the speed response fo the second axis to correspond with the one of the first axis. The disturbance observer has been designed to restrain the torque disturbance. The synchronous controller eliminates the synchronous error by controlling the speed of the second axis. The effectiveness of the proposed method has been verified through simulation.
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- 한국정밀공학회 춘계학술대회논문집 2축구동방식을 갖는 대형 겐트리 로봇 시스템의 주행축 동기제어 안승욱;최만수;박영준;김재훈
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- SIMULINK-Dynamic System Simulation for MATLAB The MathWork Inc.
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