가설 트롤리선의 위치 / 장력 혼합제어
Hybrid Control of Position/Tension for a Stringing Troy Wire
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초록
As a stringing troy wire is installed by manual operation, it is necessary to scheme the automatic system for stringing troy wire. To accomplish a task of this kind, in this paper an approach to designing controllers for the hybrid Position/Tension control of a stringing troy wire is presented. Position control system is designed based on equation of dc motor and motion equation of robot, it is controlled by feedback with a detected speed dc motor. Tension control system is designed based on equation of ac servomotor for generating torque and dynamic equation of a troy wire, it is controled by feedback with a detected tension. The control parameters is determined by simulation in independence operation of each system. To suppress a mutual interference that the disturbance occur in operating of two task at same time. Dynamic hybrid control is proposed by feed forward compensator with a disturbance accelerator and a step torque at start. The operation of proposed system is simulated and experimented, results is verified the utilities.
Abstract
As a stringing troy wire is installed by manual operation, it is necessary to scheme the automatic system for stringing troy wire. To accomplish a task of this kind, in this paper an approach to designing controllers for the hybrid Position/Tension control of a stringing troy wire is presented. Position control system is designed based on equation of dc motor and motion equation of robot, it is controlled by feedback with a detected speed dc motor. Tension control system is designed based on equation of ac servomotor for generating torque and dynamic equation of a troy wire, it is controled by feedback with a detected tension. The control parameters is determined by simulation in independence operation of each system. To suppress a mutual interference that the disturbance occur in operating of two task at same time. Dynamic hybrid control is proposed by feed forward compensator with a disturbance accelerator and a step torque at start. The operation of proposed system is simulated and experimented, results is verified the utilities.
참고문헌 (5)
- Di Xiao, "Sensor-based hybrid position", force control of a robot manipulator in an uncalibrated environment, 2000, pp.8(4), 635~645
- Luigi Villani, "An experimental study of adaptive force", position control algorithms for an industrial robot, 2000, pp.8(5), 777~786
- Hakan Koc, "Modeling and robust control of winding systems for elastic webs", IEEE Transactions on Control Systems Technology, 10(2), pp.197~208 (2002)
- Randolph Cabell, "A principal component feedforward algorithm for active noise control: Flight test results", IEEE Transactions on Control Systems Technology, 9(1), pp.76~83 (2001)
- Mehrzad Namvar, "Adaptive force-motion control of coordinated robots interacting with geometrically unknown environments", IEEE Transactions on Robotics, 21(4), pp.678~694 (2007)