유연시스템의 비선형 구동기의 동적 특성을 고려한 적응입력성형제어기

Abstract

In order to improve the efficiency of energy and productivity of flexible systems such as cranes, manufacturing systems of large crystal panels, etc., the control algorithms have been proposed for residual deflection reduction with ideal actuator performance. In fact, the industrial actuators which are mostly motors present 1st-order or 2nd-order dynamics under external loads. For the high control performance under non-ideal actuators, the control mechanisms are presented. The control algorithms are validated with a benchmark model and an experimental test-bed. Firstly, an input shaping controller is developed for the non-ideal dynamics of the industrial actuators by utilize the 2nd-order response function to step input and vector diagram approach. For the consistent control performance to the variation of design parameters of the input shaper, a numerical optimization method is proposed by using two more impulses and curve fitting approach. The input shapers for rest-to-rest operations are presented. Secondly, an adaptive input shaper is proposed by using the recursive least square method to estimate the parameters of non-ideal actuators. The adaptive input shaper is digitized for the practical control implementation by placing the impulse time locations closely matched to the sampling frequency. In the experimental verifications, the proposed algorithm is shown that the ocillatory deflection on rectangular trajectory is reduced by 50% with respect to the input shaper based on ideal actuator performance.