Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Control Gain Tuning of the 3-DOF Micro Parallel Mechanism Platform Via Design of Experiment Methodology

실험계획법을 이용한 3 자유도 마이크로 병렬기구 플랫폼의 제어 이득 선정

  • Seo, Tae-Won (School of Mechanical Engineering, Yeungnam Univ.)
  • 서태원 (영남대학교 기계공학부)
  • Received : 2012.04.30
  • Accepted : 2012.08.23
  • Published : 2012.11.01
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Abstract

Typically commercial controllers do not give data of the controller gains. Therefore, it is very hard to determine the optimal controller gain even though the dynamic model is derived. In this case, design of experiment (DOE) methodology can be a powerful tool for gain tuning. In this research, gain tuning process is proposed based on the DOE. Micro parallel mechanism platform with 3 degrees-of-freedom (DOF) is used for the experiments. Controller gains are measured indirectly from the voltages of adjustable resistors. The controller gains of three actuators are optimized by two or three steps, respectively. The correlations of the controller gains are also analyzed. The process and methodology can be adopted in gain tuning of other mechanical systems.

Keywords

References

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