• Journal of Advanced Marine Engineering and Technology
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• 제33권6호
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• pp.932-938
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• 2009

As a stringing troy wire is installed by manual operation, it is necessary to scheme the automatic system for stringing troy wire. To accomplish a task of this kind, in this paper an approach to designing controllers for the hybrid Position/Tension control of a stringing troy wire is presented. Position control system is designed based on equation of dc motor and motion equation of robot, it is controlled by feedback with a detected speed dc motor. Tension control system is designed based on equation of ac servomotor for generating torque and dynamic equation of a troy wire, it is controled by feedback with a detected tension. The control parameters is determined by simulation in independence operation of each system. To suppress a mutual interference that the disturbance occur in operating of two task at same time. Dynamic hybrid control is proposed by feed forward compensator with a disturbance accelerator and a step torque at start. The operation of proposed system is simulated and experimented, results is verified the utilities.