A Study on the Direct Pole Placement PID Self-Tuning Controller design for DC Servo Motor Control

직류 서어보 전동기 제어를 위한 직접 극배치 PID 자기동조 제어기의 설계

This paper concerned about a study on the direct pole placement PID self-tuning controller design for Robot manipulator control system. The method of a direct pole placement self-tuning PID control for a DC motor of robot manipulator tracks a reference velocity in spite of the parameters uncertainties in nonminimum phase system. In this scheme, the parameters of controller are estimated by the recursive least square(RLS) identification algorithm, the pole placement method and diophantine equation. A series of simulation in which minimum phase system and nonminimum phase system are subjected to a pattern of system parameter changes is presented to show some of the features of the proposed control algorithm. The proposed control algorithm which shown are effective for the practical application, and experiments of DC motor speed control for Robot manipulator by a microcomputer IRH-PC/AT are performed and the results are well suited.