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김영태,이영도 東國大學校 1995 東國論叢 Vol.34 No.-
Since direct drive motors have not reduction gears, the variations of the load and the torque disturbances directly influence parameter's change in motor dynamics. Therefore it is necessary to design a controller so that the direct drive motor can work in the presence of parameter variations and disturbances. In this paper we present three kinds of controller. The first one is optimal control law that has the product of the state-space vector and an optimal feedback matrix and the product is added to a constant term to minimize the steady-state errors. The second one is a pole placement method by state feedback, and that eliminates disturbances and steady-state errors. The thrid one is adaptive control law that consists in a PID regulator plus feedforward compensation of dynamics. The feedforward terms are adjusted by an adaptation law that eliminate the steady-state position errors. To compensate incorrect motor parameters, it is employed feedback terms. These controllers are applied to the position control of a direct drive motor with payload and parameter uncertainty, and the effectiveness is verified by simulation results.
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