전자공학회논문지 (Journal of the Institute of Electronics and Information Engineers)

  • 제50권11호
  • /
  • Pages.171-179
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  • 2013
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  • 2287-5026(pISSN)
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  • 2288-159X(eISSN)
대한전자공학회 (The Institute of Electronics and Information Engineers)
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스케일 텔레 로보틱스 시스템에 적용된 Routh-Hurwitz와 절대 안정도 기준의 비교

Comparison of Routh-Hurwitz and Absolute Stability Criteria in Application to Scaled Telerobotics Systems

  • Gaponov, Igor (School of Mechanical Engineering, KoreaTech) ;
  • Cho, Hyun Chan (School of Electrical, Electronics and Communication Engineering, KoreaTech) ;
  • Jeon, Hong-Tae (Dept. of Electrical and Electronics Engineering, Chung-Ang University)
  • 투고 : 2013.07.25
  • 발행 : 2013.11.25
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초록

본 논문에서는 스케일 텔레 로보틱스 시스템에 Routh-Hurwitz와 Llewellyn의 절대 안정도 기준의 적용에 관한 비교 연구 결과를 보인다. 텔레 로보틱스 시스템의 동적 방정식이 주어지고, 시스템의 전달함수는 더 나은 안정도 해석을 얻게 된다. 제어기 이득의 안정적인 마진은 두 가지의 안정도 해석 방법을 통하여 얻을 수 있으며, 본 논문에서 그 결과의 차이를 밝히고 설명했다. 본 논문은 안정도 분석결과를 수치 예제를 통해 증명하는 것으로 결론을 도출한다.

This paper presents a comparative study on application of Routh-Hurwitz and Llewellyn absolute stability criteria to a scaled telerobotic system. The dynamic equations of the telerobotic system are given, and the transfer function of the system is obtained for further stability analysis. The stable margins of controller gains are obtained using both stability analysis methods, and the differences in the results are described and explained. The paper is concluded by a numerical example verifying performed stability analysis.

키워드

참고문헌

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