A Study on Robustness of a Servosystem with Nonlinear Type Uncertainty (I) - A Synthesis of 2DOF Servosystem |
Kim, Young-Bok; |
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비선형 불확실성에 대한 서보계의 강인성에 관한 고찰(I) - 직달항을 고려한 2자유도 서보계의 구성 |
김영복; |
(주)신창인더스트리; |
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© 1999 The Korean Society of Ocean Engineers
Open access / Under a Creative Commons License
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Keywords:
Intergal Compensator, Two-Degree-of-Freedom Servosystem, Modeling Error, Disturbance Input, Direct Transfer Term |
핵심용어:
적분 보상기, 2자유도 서보계, 모델링 오차, 외란, 직달항 |
Abstract |
In order to reject the steady-state tracking error, it is common to introduce integral compensators in servosystems for constant reference signals. However, if the mathematical model of the plant is exact and no disturbance input exists, the integral compensation is not necessary. From this point of view, a two-degree-of-freedom(2DOF) servosystem has been proposed, in which the integral compensation is effective only when there is a modeling error or a disturbance input. The present paper considers a synthesis problems of this 32DOF servosystem with direct transfer term in the system representation. And, a method how we may obtain a gain such that desirable transient response is achieved, is proposed in the presence of the modelling error and disturbance input. |
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