PSoC를 이용한 비선형 보상항을 갖는 2-관성 모터 속도 제어 시스템에 관한 연구

Abstract

Most mechanical systems with rotary shaft have inertia factor and can be modeled as 2-inertia system. Rotary shaft systems have torsional due to inertia factor and this torsional vibration may result in instability of the whole system or shaft break. To reduce the torsional vibration of 2-inertia system, a remarkable performance controller design is needed. Various controller design methods have proposed to restrain the torsional vibration. In this paper, a new controller design method for the torsional vibration of 2-inertia system is presented using a non-linear compensator with complex dual-input describing function(CDIDF). The technique for synthesis of the dual-input describing function is introduced here and a non-linear controller with complex dual-input describing function is constructed. A method is proposed to evaluate the nonlinear characteristics for the system with a predetermined complex dual-input describing function. The non-linear controller has two input and one output. the first input and the output are connected to the direct path of the system for compensation while the second input is connected to the output of a sinusoidal signal generator. This non-linear controller, properly connected in the direct path of a closed-loop linear or non-linear system, can improve the response with respect to instability, elimination of limit cycle, low speed of response and static accuracy. Also, the parts of DC motor driver and controller hardware are made by the Programmable System-on-Chip(PSoC). A PSoC integrates a microcontroller and the analog and digital components that typically surround it in an embedded system. A single PSoC device can integrate as many as peripheral functions with a microcontroller, saving the flexibility of signal conditioning and makes certain a propriety of proposed controller. The validity of the proposed scheme is demonstrated by computer simulation and proved by the experiment.