한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1996년도 춘계학술대회 논문집
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- Pages.341-345
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- 1996
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- 2005-8446(pISSN)
3자유도 모터의 동역학적 해석 및 제어
Dynamic Analysis and Control of the 3 Degrees of Freedom Motor
초록
Many mechanical and electrocal systems use the number of motors to make multi degree of freedom motion. One method to reduce the number of motors is suggested by using the 3 D.O.F. motor. The 3 D.O.F. motor has advantages such as downsize, weight reduction, and simplification of the existing 3 D.O.F. systems. In this study, a mathematical model for the 3 D.O.F. motor is suggested and the dynamic equation is derived to analyze the 3 D.O.F. motion. Generallinear control methods are very hard to get the good performance because of the nonlinear terms of each degree of each degree of freedom. To control the motion properly, the nonlinear terms are decoupled using a feedback control law. Nonlinear feedback control law which can arrage the poles arbitrarily is derived. The effects of the gains are examined through computer simulations.
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