A study on the precision control of DC motor driving system using current-controlled feedforward compensation & optimal output feedback

전류제어형 입력보상 및 최적 출력제어를 적용한 직류전동기 구동시스템의 정밀 제어 방법에 관한 연구

In this paper, a controller design method for the DC motor driving system is described emphasizing the specified degree of accuracy undergoing large time varying disturbances, coulomb friction and arm-load resonance. A feedforward compensation technique using the current controller is proposed, and resulting in the performance improvement as well as the implementational simplicity. A time-weighted quadratic performance index is used in the optimization of the controller, which is a salient way of obtaining better closed-loop performance in a simple manner. Computer simulations are also given to show the usefulness of the proposed techniques.