지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 1,451 - 1,456 (6page)
이용수
초록· 키워드
오류제보하기
In this study, a nominal characteristic trajectory following (NCTF) controller with extended minimal resource allocation network (EMRAN) compensator is introduced for two-mass rotary point-to-point (PTP) positioning systems. Generally, the NCTF controller consists of a nominal characteristic trajectory (NCT) and a compensator. The objective of the compensator is to make the object motion follow the NCT and end at its origin. The NCTF controller is designed based on a simple open-loop experiment of the object. The parameters and an exact model of the plant are not necessary for controller design. This paper presents a new method to improve the conventional NCTF controller in order to increase the positioning performance and robustness of the system by using EMRAN as a compensator. The NCTF-EMRAN controller is evaluated and discussed based on results of simulation. The effect of the design parameters on the robustness of the NCTF-EMRAN controller to inertia variations is evaluated and compared with conventional NCTF controller. It is shown that NCTF-EMRAN controller has a better positioning performance and much more robust than existed NCTF controller.
목차
Abstract
1. INTRODUCTION
2. SYSTEM MODEL
3. NCTF-EMRAN CONTROLLER
4. CONVENTIONAL NCTF CONTROLLER
5. SIMULATION RESULTS
6. SUMMARY
7. ACKNOWLEDGEMENT
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000914995