Abstract

In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed position synchronizing control system is constituted with speed and synchronizing controller. The speed controller is aimed at the following to speed reference. Furthermore, it is designed to guarantee low sensitivity under some disturbance as well as robustness against model uncertainties using $H_{\infty}$technique. The synchronizing controller is designed to keep minimizing the position error using PID control law which is considered to reduce the dimension of transfer function in the control system. Especially, the proposed method can be easily conducted by controlling only slave axis speed, because it, has variable structure which is decided to master and slave axis by the sign of synchronizing error. Therfore, the master axis which is smaller influenced than another axes by disturbance can be controlled without reducing or increasing its speed for precise position synchronization. The effectiveness of the proposed method is sucessfully confirmed through many experiments.s.

Keywords

• Multi-Axes Driving System;
• Posistion Synchronizing Control;
• Speed Controller;
• Synchronizing Controller;
• Variable Structure System;
• Inverse Dyanamics;
• Model Uncertainty;
• H$\infty$ Controller;
• Mixed Sensitivity Function

• 다축구동시스템;
• 위치동기화제어;
• 속도 제어기;
• 동기화 제어기;
• 가변 구조 시스템;
• 역 다이나믹스;
• 모델 불확실성;
• H$\infty$제어기;
• 혼합 감도함수;