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
- 학위논문
- 저자정보
- 지도교수
- 김영복
- 발행연도
- 2022
- 저작권
- 부경대학교 논문은 저작권에 의해 보호받습니다.
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이 논문의 연구 히스토리 (2)
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초록· 키워드
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In this study, the problem of suppressing uncertain and irregular disturbance from outside was studied. With the development of control technology, more stable and precise work is required. In order to satisfy these required characteristics a robust controller was designed to analyze the kinetic characteristics of the active vibration isolation table and suppress the influence of disturbance on the table to have the vibration characteristics even in the micro-level vibration area. In addition, the performance of the controller was evaluated to effectively perform the vibration suppression performance even in a general operating environment by configuring an active vibration isolation system in parallel.
Therefore, in this study, the motion characteristics were identified through the experiment of applying disturbance to the active vibration isolation table. Here, the uncertainty of the model was analyzed and a robust controller was designed to suppress the uncertain and irregular disturbance of actual model. The proposed robust control system design method was applied to the experimental device and the vibration suppression performance of the controller was evaluated by applying various disturbances. From the results of this study, it was verified that the proposed control system design method can secure not only model uncertainty but also robustness against uncertain and irregular disturbance as well as control performance.
Therefore, in this study, the motion characteristics were identified through the experiment of applying disturbance to the active vibration isolation table. Here, the uncertainty of the model was analyzed and a robust controller was designed to suppress the uncertain and irregular disturbance of actual model. The proposed robust control system design method was applied to the experimental device and the vibration suppression performance of the controller was evaluated by applying various disturbances. From the results of this study, it was verified that the proposed control system design method can secure not only model uncertainty but also robustness against uncertain and irregular disturbance as well as control performance.
목차
제 1 장 서 론 11.1 연구배경 11.2 연구 방향 및 연구목표 5제 2 장 시스템 설계 62.1 시스템의 구성 62.2 시스템의 동역학적 모델 92.3 실험장치 구성 122.4 시스템의 동특성 분석 15제 3 장 제어기 설계 243.1 서론 243.1.1 제어 243.1.2 제어의 일반적인 문제 283.1.3 Small gain 이론 323.1.4 모델 불확실성에 대한 강인성 확보 343.1.5 외란 제거 문제 373.2 외란억제를 위한 제어기 설계 403.3 외란억제를 위한 PID 제어기 설계 49제 4 장 실험결과 514.1 실험결과 51제 5 장 결 론 62참고문헌 64
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