최소 제어 인자 도출을 통한 사용편의성 높은 제어시스템 설계

An electric motor is the one of the most important parts in robot systems, which mainly drivesthe wheel of mobile robots or the joint of manipulators. According to the requirement of motorperformance, the controller type and parameters vary. For the wheel driving motors, a speed trackingcontroller is used, while a position tracking controller is required for the joint driving motors. Moreover,if the mechanical parameters are changed or a different motor is used, we might have to tune again thecontroller parameters. However, for the beginners who are not familiar about the controller design, it ishard to design pertinently. In this paper, we develop a nominal robust controller model for the velocitytracking of wheel driving motors and the position tracking of joint driving motors based on thedisturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parametervariations, and propose the methodology for the determining the least control parameters. The proposedcontrol system enables the beginners to easily construct a controller for the newly designed robot system.
The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness.
Finally, simulation and experimental verification have performed through the actual wheel and jointdriving motors.