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논문 기본 정보

자료유형
학술저널
저자정보
(동의대학교) (동의대학교) (동의대학교) (동의대학교)
저널정보
한국지능시스템학회 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS Vol.10 No.2
발행연도
수록면
113 - 118 (6page)

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초록· 키워드

This paper proposed an ECAM (Electronic cam) control system which has simple and general structure. The proposed cam controller adopted the linear and polynomial curve-fitting method to generates a smooth cam profile curve function. Smooth motion trajectory of master actuator guarantees the good performance of slave motion and has an important effect on the interpolation quality of ECAM. The auto-tuning PID velocity controller was applied to overcome the uncertainties in ECAM, and the gains of the controller are updated continuously to ensure the consistency of system performance under varying working conditions. The robustness of system against the varying load torque disturbances and noises is guaranteed by using the load torque disturbance observer to suppress the disturbance on master actuator. The velocity compensator was applied to compensate the degradation of performance of slave motion caused from the varying driving speed of master motion. The stability and validity of the proposed ECAM control system was verified by simulation results.
#ECAM #Disturbance observer #Auto-tuning PID #Velocity compensation #Linear curve-fitting #Polynomial curve-fitting
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목차

  1. Abstract
  2. 1. Introduction
  3. 2. Controller Scheme
  4. 3. Auto-tuning PID Controller
  5. 4. Simulation Results
  6. 4. Conclusion
  7. Reference

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UCI(KEPA) : I410-ECN-0101-2010-028-002422921