지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2014.3
- 수록면
- 67 - 77 (11page)
이용수
초록· 키워드
오류제보하기
An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.
목차
Abstract
1. 서론
2. 제어시스템 설계
3. 최소 제어 인자 도출
4. 모의 실험
5. 실험 및 결과
6. 결론
References
참고문헌 (17)
참고문헌 신청
1. [학술대회논문] - J. Vaidya / 1995 / Motor selection for actuation systems / Electrical Electronics Insulation Conference and Electrical Manufacturing & Coil Winding Conference : 385 ~ 391
2. [학술대회논문] - B.K. Fussell / 1995 / Brushless DC motor selection / Electrical Electronics Insulation Conference and Electrical Manufacturing & Coil Winding Conference : 345 ~ 353
3. [학술대회논문] - S. Kimbrough / 1990 / Electric Motor Selection for Motion Control Systems / American Control Conference : 2079 ~ 2082
4. [학술대회논문] - C. Choi / 2007 / A motor selection technique for designing a manipulator / International Conference on Control, Automation and Systems : 2487 ~ 2492
5. [학술지(정기간행물)] - M. Morari / 1999 / Model predictive control: past, present and future / Computers & Chemical Engineering 23 : 4 ~ 5
2. [학술대회논문] - B.K. Fussell / 1995 / Brushless DC motor selection / Electrical Electronics Insulation Conference and Electrical Manufacturing & Coil Winding Conference : 345 ~ 353
3. [학술대회논문] - S. Kimbrough / 1990 / Electric Motor Selection for Motion Control Systems / American Control Conference : 2079 ~ 2082
4. [학술대회논문] - C. Choi / 2007 / A motor selection technique for designing a manipulator / International Conference on Control, Automation and Systems : 2487 ~ 2492
5. [학술지(정기간행물)] - M. Morari / 1999 / Model predictive control: past, present and future / Computers & Chemical Engineering 23 : 4 ~ 5
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UCI(KEPA) : I410-ECN-0101-2020-559-001258360