The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Position Controller of Rail Guided Unmanned Monitoring System with the Driving Slip Compensator

주행 슬립 오차 보상기를 가지는 레일 가이드 무인 설비 감시 장치의 위치 제어기

  • Bae, Jongnam (Dept. of Mechatronics Engineering, Kyungsung University) ;
  • Kwak, Yunchang (Dept. of Mechatronics Engineering, Kyungsung University) ;
  • Lee, Dong-Hee (Dept. of Mechatronics Engineering, Kyungsung University)
  • Received : 2017.02.21
  • Accepted : 2017.04.12
  • Published : 2017.05.01
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Abstract

The real time unmanned monitoring system of an equipment's internal parts and condition requires the monitoring device to be able to stop at a set location on the rail. However, due to the slip between the driving surface and the roller, an error occurs between the actual position and the command position. In this paper, a method to compensate the position error due to the roller slip is proposed. A proximity sensor located at both ends of the rail detects the starting point and the maximum position pulse, linearly compensating the error between the angular position of the motor and the mechanically fixed starting and maximum position pulse of the rail in forward and reverse direction. Moreover, unlike the existing servo position controller, the motor adopts the position detection method of Hall sensor in BLDC (Brushless DC) and applies an algorithm for low-speed driving so that a stable position control is possible. The proposed rail guided unmanned monitoring system with driving slip compensator was tested to verify the effectiveness.

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References

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