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    Please use this identifier to cite or link to this item: http://ir.lib.ksu.edu.tw/handle/987654321/9479


    Title: Robust Control for a Biaxial Servo with Time Delay System Based on Adaptive Tuning Technique
    Authors: 陳添智
    Tien-Chi Chen
    Chih-Hsien Yu
    Contributor: 電機工程系
    Keywords: Cross-coupled controller
    Delay-time compensator
    Date: 2009-12-21
    ISSN: 0019-0578
    Issue Date: 2010-03-22 15:19:51 (UTC+8)
    Abstract: A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A
    new network based cross-coupled control and adaptive tuning techniques are used together to cancel
    out the skew error. The conventional fixed gain PID cross-coupled controller (CCC) is replaced with
    the adaptive cross-coupled controller (ACCC) in the proposed control scheme to maintain biaxial servo
    system synchronization motion. Adaptive-tuning PID (APID) position and velocity controllers provide the
    necessary control actions to maintain synchronization while following a variable command trajectory. A
    delay-time compensator (DTC) with an adaptive controller was augmented to set the time delay element,
    effectively moving it outside the closed loop, enhancing the stability of the robust controlled system. This
    scheme provides strong robustness with respect to uncertain dynamics and disturbances. The simulation
    and experimental results reveal that the proposed control structure adapts to a wide range of operating
    conditions and provides promising results under parameter variations and load changes.
    Relation: ISA Transactions 48 (2009) 283294
    Appears in Collections:[電機工程系所] 期刊論文

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