Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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QLQG/LTR Control of the Nonlinear Timing-Belt Driving Systme Using DSP

DSP를 이용한 비선형 타이밍 벨트 구동시스템의 QLQG/LTR 제어

  • 한성익 (순천제일대학 기계전기제어과) ;
  • 방두열 (순천제일대학 기계전기제어과)
  • Published : 2001.08.01
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Abstract

In this pater, the QLQG/LTR control method is applied for the position control of the nonlinear timing belt driving sys-tem. Parameters fo the plant are identified by genetic algorithm and nonlinear elements, such as Coulomb friction and dead-zone, and quasi-linearized by RIDE method. Comparing with the LQG/LTR contro. the QLQG/LTR has similar structures of the LQG/LTR, but this method can consider nonlinear effects in designing the controller. Thus, the QLQG/LTR control system is robust to hard nonlinearities such as Coulomb friction, dead-zone, etc. Forma given hard non-linear system through experiments, it is shown that the tracking performance of the QLQG/LTR control system can be very improved that the LQF/LTR control system.

Keywords

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