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저강성 서보 구동시스템을 위한PD.PID 속도제어기 설계
배상규(S.G. Bae),석줄기(J.K. Seok),이동춘(D.C. Lee) 전력전자학회 2003 전력전자학술대회 논문집 Vol.2003 No.7(2)
The purpose of this paper is to develop the straightforward design guidelines of PD/PID speed controller for industry servo drives with plug and play concept The controller gains are uniquely determined from the current control loop dynamics, speed loop delay, and mechanical parameters. In order to eliminate the mechanical friction uncertainties, an automatic PD/PI control mode switching algorithm is introduced using online spectrum analysis of motor torque command. The dynamic performance of the proposed scheme assures a fast tracking response curve with minimal oscillation and settling time over the whole operating conditions. For comprehensive comparison of conventional PI control scheme, extensive test is carried out on actual servo system.<br/>