Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Design of Self Tuning Type Servo Controller for Systems with Known Dusturbance

기지 외란을 가진 시스템의 자기동조형 서보 제어기 설계

  • Kim, Sang-Bong (Dept.of Mechanical Engineering, Pukyong National University) ;
  • Ahn, Hwi-Ung (Dept.of Mechanical Engineering, Pukyong National University) ;
  • Yeu, Tae-Kyoung (Dept.of Mechanical Engineering, Pukyong National University) ;
  • Suh, Jin-Ho (Tokyo Institute of Technology)
  • Published : 2000.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

A robust control algorithm under disturbance and reference change is developed using a self tuning control method incorporting of the well known internal model principle and the annihilator polynomical. The types of disturbance and reference signal are assumed to be given as known difference polynomials. The algorithm is shown for a minimum phase system with parameters of unknown parameters.

Keywords

References

  1. 寺尾, 金井, 'ロバスト適應制御入門', オ一ム社, 1989.
  2. F. A. Cameron and D. E. Seborg, 'A self-tuning croller with PID structure', Int. J. Cont., vol. 38, no. 2, pp. 401-417, 1983
  3. 김상봉, 전봉환, 정석근, '자기동조법에 의한 유도전동기의 강인한 속도 제어계 설계', 한국정밀공학회지, 제12권, 제8호, pp. 168-175, 1995. 8
  4. 김상봉, 빅순실, '강인한 서보계 설계와 R/C 헬리콥터 트레이닝시뮬레이터 제어에의 응용', 대한기계학회논문집, 제15권, 제2호, pp. 496-506, 1991
  5. 中滿高好, '最小二乘法と線形回歸', ユソピイュ―トロル, vol. 23. pp. 53-58, ュロナ社, 1983
  6. 大山添弘, 工藤淸, 罔本浩辛, 藤尺 嚴, '現代制御理論に基ついたデイヅタル制御系設計法', イソタ―フエ―ス, no. 116, pp. 215-240, 1986
  7. 內門, 金井, 長, '確定外亂を含む適應制御系設計の多頂式代數法による―考察', 計測自動制御學論文集, 24(9), pp. 985-987, 1988
  8. 藤井, 水野, '未知確定外亂を考慮した離散時間モデル規範形適應制御', 計測自動制御學會論文集, 21(2), pp. 914-920, 1985
  9. K. S. Narendra and A. M. Annaswamy, 'Robust adaptive control in the presence of bounded disturbances', IEEE Trans. AC-31(4), pp. 306-315, 1986
  10. Karl Johan Astrom and Bjorn Wittenmark. 'Adaptive control', Addison Wesley, pp. 124-131, 163-211, 1989
  11. Madan G Singh, 'System & control encyclopedia', Pergamon Press, vol 5, pp. 3004-3006, 3406-3410. 1987
  12. 內門, 金井, 杉山, '確定的未知外亂を含む離散時間適應制御計の設計', 計測自動制御學會論文集, 21(2), pp. 131-136, 1985
  13. 內門, 金井, '外亂を考慮する連績時間適應制御系の―設計', 計測自動制御學會論文集, 22(6), pp. 706-708, 1986