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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of Robust High-Speed Motion Controller with Actuator Saturation and Its Application to Precision Positioning System

구동기 포화가 있는 견실 고속 온동 제어기 설계 및 정밀 위치 결정 시스템에의 적용

  • 최현택 (한양대학교 전자공학과) ;
  • 김봉근 (포항공과대학교 기계공학과) ;
  • 서일홍 (한양대학교 전자 및 컴퓨터공학과) ;
  • 정완균 (포항공과대학교 기계공학과)
  • Published : 2000.09.01
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Abstract

A robust high-speed motion controller is proposed. The proposed controller consists of the proximate time optimal servomechai는 (PTOD) for high-speed motion, disturbance observer (DOB) for robustness, friction compensator, and saturation handling element, In the proposed controller, DOB basically provides the chance to apply PTOS to non-double integrator systems by drastically reducing disturbances as well as unwanted signals due to difference between real system and the double integrator model. But, in DOB-based systems, if control input is saturated due to control input PTOS and/or DOB, overall system stability cannot be guaranteed. To solve this problem, ribust stability, when the control input is saturated. Eventually, a simple saturation handling element is inserted to maintain internal stability of overall system. Also, we explain the our two saturation handling methods, Additional Saturation Element (ASE_ and Self Adjusting Saturation (SAS), are the equivalent solutions of the saturation problem to maintain internal stability. The stability and performance of the proposed controller are verified through numerical simulations and experiments using a precision linear motor system.

Keywords

References

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