실험계획법을 이용한 3자유도 마이크로 병렬기구 플랫폼의 제어 이득 선정

Title
실험계획법을 이용한 3자유도 마이크로 병렬기구 플랫폼의 제어 이득 선정
Other Titles
Control Gain Tuning of the 3-DOF Micro Parallel Mechanism Platform Via Design of Experiment Methodology
Author(s)
서태원
Keywords
Gain Tuning (게인 튜닝); Design of Experiment (실험계획법); Parallel Mechanism (병렬기구); Correlation Analysis (상관관계 분석)
Issue Date
201211
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.29, no.11, pp.1207 - 1213
Abstract
Typically commercial controllers do not give data of the controller gains. Therefore, it is very hard to determine the optimal controller gain even though the dynamic model is derived. In this case, design of experiment (DOE) methodology can be a powerful tool for gain tuning. In this research, gain tuning process is proposed based on the DOE. Micro parallel mechanism platform with 3 degrees-of-freedom (DOF) is used for the experiments. Controller gains are measured indirectly from the voltages of adjustable resistors. The controller gains of three actuators are optimized by two or three steps, respectively. The correlations of the controller gains are also analyzed. The process and methodology can be adopted in gain tuning of other mechanical systems.
URI
http://hdl.handle.net/YU.REPOSITORY/26902http://dx.doi.org/10.7736/KSPE.2012.29.11.1207
ISSN
1225-9071
Appears in Collections:
공과대학 > 기계공학부 > Articles
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