Synchronous Control of a Two-Axes Driving System by Disturbance Observer and PID Controller |
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외란 관측기와 PID제어기를 이용한 2축 주행시스템의 동기제어 |
변정환,김영복,양주호 |
여수대학교 기관공학과,경상대학교 수송기계공학부,부경대학교 기계공학부 |
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© 2001 The Korean Society of Ocean Engineers
Open access / Under a Creative Commons License
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Keywords:
Two-axes driving system, Disturbance observer, Synchronous error, Position synchronous control |
핵심용어:
2축 주행 시스템, 외란 관측기, 동기오차, 위치동기제어 |
Abstract |
In this study, a methodology of synchronous control which can be applied to position synchronization of a two-axes driving system has been developed. The synchronous error is caused by model uncertainties and torque disturbance of each axis. To overcome these problems, the proposed synchronous control system has been composed of two speed controllers, disturbance observers, and one synchronous controller. The speed controllers, based on the PID control law are aimed at the following to speed reference. And the parameters of speed controllers have been designed in order for the speed response fo the second axis to correspond with the one of the first axis. The disturbance observer has been designed to restrain the torque disturbance. The synchronous controller eliminates the synchronous error by controlling the speed of the second axis. The effectiveness of the proposed method has been verified through simulation. |
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