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Precise Position Synchronous Control of Two Axes Rotating Systems by Cooperative Control
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 Title & Authors
Precise Position Synchronous Control of Two Axes Rotating Systems by Cooperative Control
Jeong, Seok-Gwon; Kim, Yeong-Jin; Yu, Sam-Sang;
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 Abstract
This paper deals with a precise position synchronous control by a cooperative control method of two axes rotating systems. First, the system's dynamics including motor drives described by a motor circuit equation and Newton's kinetic formulation about rotating system. Next, based on conventional PID(Proportional, Integral, Derivative) control law, current and speed controller are designed very simply to follow up reference speed correctly under some disturbances. Also, position synchronous controller designed to minimize position errors according to integration of speed errors between two motors. Then, the proposed control enables the distributed drives by a software control algorithm to behave in a way as if they are mechanically hard coupled in axes. Further, the stabilities and robustness or the proposed system are investigated. Finally, the proposed system presented here is shown to be more precise position synchronous motion than conventional systems through some simulations and experiments.
 Keywords
Position Synchronous Control;Virtual Hard Coupling;Cooperative Control;Current Controller;Speed Controller;PID Control Law;
 Language
Korean
 Cited by
1.
H제어기법에 의한 커플링구조의 위치동기제어에 관한 연구,변정환;

대한기계학회논문집A, 2002. vol.26. 10, pp.2052-2059 crossref(new window)
2.
커플링구조와 외란관측기를 결합한 회전시스템의 위치동기제어,변정환;

한국정밀공학회지, 2003. vol.20. 3, pp.66-73
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