| 선형전동기기반 컨테이너 이송시스템의 위치정확도 향상을 위한 적응 Backstepping 제어기 설계 |
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이진우, 서정현, 한근조, 이권순 |
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| A Design of Adaptive Backstepping Controller for Improving Position Accuracy of Linear Motor-based Container Transportation System with Dynamic Friction |
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Jin-Woo Lee, Jung-Hyun Seo, Geun-Jo Han, Kwon-Soon Lee |
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| Abstract |
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In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains Q{controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method. |
| Key Words:
Nonlinear dynamic friction;Compensator;Adaptive control;Linear motor;Parameter estimator |
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