쌍입력 기술함수를 갖는 비선형 제어기를 이용한 직류전동기 위치제어시스템에 관한 연구

Abstract

In this paper, a new controller design method for DC motor Control is presented, which we can satisfy the given specifications more easily than the existing one. There are lots of method for DC motor position control, for example a phase lead-lag or PID compensator. However, though these methods have its advantage for controller design such as simplicity, it is still difficult to adjust the phase margin and bandwidth of the system. Here, we suggest an improved PDFF(Integral with Proportional-Derivative- plus-Feedforward) system by which both margin and bandwidth are controlled simultaneously. That is, replacing the feed forward term in the PDFF system with a CDIDF(Complex Dual Input Describing Function), the desired phase margin is obtained without diminishing the bandwidth of the closed loop system. The effectiveness of the proposed method is confirmed through simulation. As a result of this, we know that it is possible to adjust overall specification by varying parameters in the improved PDFF system.