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Optimal Tuning of Biaxial Servomechanisms Using a Cross-coupled Controller

大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A v.30 no.10 = no.253 , 2006년, pp.1209 - 1218  
배호규 (한양대학교 대학원 기계설계학과 ) ;  정성종 ( 한양대학교 기계공학부)
Abstract

Precision servomechanisms are widely used in machine tool, semiconductor and flat panel display industries. It is important to improve contouring accuracy in high-precision servomechanisms. In order to improve the contouring accuracy, cross-coupled control systems have been proposed. However, it is very difficult to select the controller parameters because cross-coupled control systems are multivariable, nonlinear and time-varying systems. In this paper, in order to improve contouring accuracy of a biaxial servomechanism, a cross-coupled controller is adopted and an optimal tuning procedure based on an integrated design concept is proposed. Strict mathematical modeling and identification process of a servomechanism are performed. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including the relevant controller parameters of the servomechanism. The objective of the optimal tuning procedure is to minimize both the contour error and the settling time while satisfying constraints such as the relative stability and maximum overshoot conditions, etc. The effectiveness of the proposed optimal tuning procedure is verified through experiments.

주제어

#윤곽오차   #상호결합제어   #통합설계   #카리토노브 정리   #최적튜닝   #강인성   #서보계  

저자의 다른 논문

Chung, Sung-Chong(43)

참고문헌 (17)

  1. Koren, Y., 1980, 'Cross-Coupled Biaxial Computer Control for Manufacturing Systems,' ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 102, No.4, pp. 265-272 
  2. Srinivasan, K. and Kulkarni, P. K., 1990, 'CrossCoupled Control of Biaxial Feed Drive Servomechanisms,' ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 112, No.4, pp. 225-232 
  3. Koren, Y. and Lo, C. C., 1991, 'Variable-Gain Cross-Coupling Controller for Contouring,' Annals of the CIRP, Vol. 40, No.1, pp. 371-374 
  4. Ziegler, J. G. and Nichols, N. B., 1942, 'Optimum Setting for Automatic Controllers,' ASME Transaction, Vol. 64, pp. 759-768 
  5. Tamg, Y. S., Chuang, H. Y. and Hsu, W. T., 1997, 'An Optimisation Approach to the Contour Error Control of CNC Machine Tools Using Genetic Algorithms,' International Journal of Advanced Manufacturing Technology, Vol. 13, pp. 359-366 
  6. Kim, M. S. and Chung, S. C., 2005, 'A Systematic Approach to Design High-Performance Feed Drive Systems,' International Journal of Machine Tools and Manufacture, Vol. 45, pp. 1421-1435 
  7. Kim, M. S., and Chung, S. C., 2003, 'Integrated Design of High-speed Feed Drive Systems,' Trans. of KSME(A), Vol. 27, No. 12, pp. 2028-2038 (in Korean) 
  8. Kim, M. S., and Chung, S. C., 2004, 'Integrated Design of Feed Drive Systems using Discrete 2-D.O.F. Controllers (I),' Trans. of KSME(A), Vol. 28, No.7, pp. 1029-1037 (in Korean) 
  9. Kim, M. S., and Chung, S. C., 2004, 'Integrated Design of Feed Drive Systems using Discrete 2-D.O.F. Controllers (II),' Trans. of KSME(A), Vol. 28, No.7, pp. 1038-1046 (in Korean) 
  10. Kim, M. S., and Chung, S. C., 2005, 'Integrated Design of servomechanisms using a Disturbance Observer,' Trans. of KSME(A), Vol. 29, No.4, pp. 591-599 (in Korean) 
  11. Kim, M. S. and Chung, S. C., 2003, 'Identification of Nonlinear Characteristics for Precision Servomechanism,' Proceedings of the ASPE 2003 AnnuaIMeeting,pp.191-194 
  12. Ljung, L., 1999, System Identification-Theory for the User, Prentice Hall PTR, New Jersey, pp. 79-246 
  13. MATLAB System Identification Toolbox User Guide, 2000, Mathworks, Inc 
  14. Ackermann, J., Bartlett, A., Kaesbauer, D., Sienel, W. and Steinhauser, R., 1993, Robust Control: Systems with Uncertain Physical Parameters, Springer-Verlag, English, pp. 124-134 
  15. Arora, J. S., 1989, Introduction to Optimum Design, McGraw-Hill, Inc., Singapore 
  16. MATLAB Optimization Toolbox User Guide, 2000, Mathworks, Inc 
  17. MATLAB Simulink User Guide, 2000, Mathworks, Inc 

이 논문을 인용한 문헌 (3)

  1. Sung, Chul-Mo ; Chung, Sung-Chong 2008. "Optimal Tuning of Bi-axial Servomechanisms for High-Precision Motion Control" 한국공작기계학회논문집 = Transactions of the Korean society of machine tool engineers, 17(5): 44~51 
  2. 2010. "" International journal of precision engineering and manufacturing, 11(1): 39~47 
  3. Shin, Dong-Soo ; Chung, Sung-Chong 2011. "Optimal Tuning of a Ballscrew Driven Biaxial Servo System" 한국생산제조시스템학회지 = Journal of the Korean Society of Manufacturing Technology Engineers, 20(5): 589~597 

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