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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of Robust Stability Maximizing PI Controller in Motor Parameter Variation

모터 파라미터 변화에 강인한 안정도 최대화 PI 제어기 설계

  • 조내수 (경북대학교 전자전기컴퓨터학부) ;
  • 류지열 (부경대학교 전자컴퓨터정보통신공학부) ;
  • 박철우 (영진전문대학 컴퓨터응용기계계열) ;
  • 권우혁 (경북대학교 전자전기컴퓨터학부)
  • Published : 2009.06.01
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Abstract

This paper propose a PI controller that maximizes the degree of stability using a stability in a simplified motor model the applies decoupling control. The PI controller gains are directly from the motor parameters, thereby reducing the element of trial and error, and, the Kharitonov equation was used to evaluate the robustness of the gains to changes in the motor parameters. In addition, the system poles are located in the same position, the proposed method can provide a fast response. The effectiveness of the proposed controller is verified by simulation results.

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References

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