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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Characteristics Comparison of Motion Controllers through Experiments

실험을 통한 모션제어기의 특성비교

  • 정승현 (영남대학교 전자정보공학부) ;
  • 왕준 (영남대학교 전자정보공학부) ;
  • 한창욱 (동의대학교 전기공학과) ;
  • 박정일 (영남대학교 전자정보공학부)
  • Published : 2008.11.01
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Abstract

Through the motion control experiment using Industrial Emulator(Model 220 by ECP), the performance comparison of three kinds of controllers such as PID, RIC and LQR was carried out. It was shown that RIC has the best performance in the presence of disturbances such as step one, sinusoidal one and Coulomb friction for the rigid body. LQR using feedback state variables has the best tracking performance far the flexible body. The performance of PID controller is low compared to other controllers, but the design process is simple. The most advanced controller is LQR. In order to attenuate disturbance, an additional state observer should be used to estimate it, making more complex control system. RIC lies between PID and LQR in view of complexity of design. Even though RIC is not complicated, it has good disturbance rejection ability and less tracking error. By considering these aspects, the RIC is suggested as high precision controller to be used in motion control system.

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References

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