다축 서보 시스템의 서보 파라미터 튜닝에 관한 연구

• 영문명: Development of Experimental Servo-Parameter Tuning Technique for Multi-Axis Servo System
• 발행기관: 개인저작물
• 저자명: 정원지 김효곤 이춘만 홍대선 박승규 서영교 이기상
• 간행물 정보: 『개인저작물 - 공학』null, 145~150쪽, 전체 6쪽
• 주제분류: 공학 > 개인저작물
• 파일형태: PDF
• 발행일자: 2006.5.null

영문 초록

This paper presents a new experimental Servo-Parameter tuning technique for a Multi-Axis Servo System, especially considering robot s dynamics. First of all, investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer (DSA) is performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function can be obtained. In turn, the integral gain of a servo controller can be found out by using the integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller can be obtained by using the Bode plot of the closed loop transfer function. Using the experimental gain tuning technique proposed in this paper, the testing linear motion of DR6-II robot has been shown to be more accurate rather than the motion with a conventional (empirical) gain tuning technique in Doosan Mecatec Co., Ltd., by improving the dynamic response of the robot as well as synchronizing each joint velocity according to the positional command of an end-effector.

목차

1. 서론

2. SERVO PARAMETER TUNING

3. NOTCH FILTER TUNING

4. Feed Forward Filter Tuning

5. 결론

참고문헌

키워드

Gain Tuning Dynamic Signal Analyzer Position Control Loop Tuning Velocity Control Loop Tuning Notch Filter Tuning