Synchronous Control of a Two-Axes Driving System by Disturbance Observer and PID Controller

외란 관측기와 PID제어기를 이용한 2축 주행시스템의 동기제어

  • 변정환 (여수대학교 기관공학과) ;
  • 김영복 (경상대학교 수송기계공학부) ;
  • 양주호 (부경대학교 기계공학부)
  • Published : 2001.02.01


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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