수산해양기술연구(구 한국어업기술학회지) 58권 3호 (p.241-250)

외란과 모델 불확실성에 강인한 DC모터의 속도 제어용 H-infinity 제어기 설계

H-infinity controller design for robust speed control against disturbance and model uncertainty of DC motors
키워드 :
DC motor,H-infinity control,Model uncertainty,Robust control,Mixed sensitivity problem,Disturbance rejection

목차

서 론
재료 및 방법
   DC모터의 상태 공간 모델링
   DC모터 속도 제어를 위한 ∞ 제어기 설계
결과 및 고찰
결 론
사 사
References

초록

This paper describes the design of H-infinity controller for robust control of a DC motor system. The suggested controller can ensure robustness against disturbance and model uncertainty by minimizing H-infinity norm of the transfer function from exogenous input to performance output and applying the small gain theorem. In particular, the controller was designed to reduce the effects of disturbance and model uncertainty simultaneously by formalizing these problems as a mixed sensitivity problem. The validity of the proposed controller was demonstrated by computer simulations and real experiments. Moreover, the effectiveness of the proposed controller was confirmed by comparing its performance with PI controller, which was tested under the same experimental condition as the H-infinity controller.