지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 지도교수
- 김영복
- 발행연도
- 2014
- 저작권
- 부경대학교 논문은 저작권에 의해 보호받습니다.
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The backlash is one of the parameters what make unstable control in the servo system driven by gears. Especially the backlash causes that servo system can''t reach desired performances in Line-of-sight(LOS) stabilization system which needs high level accuracy and response, because the backlash limits mechanical performance. Therefore the LOS stabilization system is normally equipped with direct motors to ensure the zero backlash. And a direction driven by gears is used to sub-drive. The directly driven motor system can achieve good linearity, while it is expensive and has low torque comparing to an equipment volume. A servo system can improve driving performance by improvement of control system. However in case of the LOS stabilization system, normally it operates in tough environment. Therefore, although the LOS stabilization system is controled very well, there is the effect of a backlash.
This paper realizes the zero backlash system. To realize the zero backlash the driven gear in the servo system is running by double driving gears. To stabilize the system, a controller is designed by restraining on the backlash. The overall control principle is that the driven gear is constrained by slight difference of velocity between the control gear for positioning and the tracking gear, to follow the control gear in driving. And it keeps the zero backlash actively while the LOS stabilization system is driven. In this way, the displayed video of the LOS stabilization system can be stable under the zero backlash system. Because it won''t have an overshoot, a steady-state error, etc. In addition, a high performance LOS stabilization system could be realized by ensuring the fast responsibility and the wide bandwidth.
This paper realizes the zero backlash system. To realize the zero backlash the driven gear in the servo system is running by double driving gears. To stabilize the system, a controller is designed by restraining on the backlash. The overall control principle is that the driven gear is constrained by slight difference of velocity between the control gear for positioning and the tracking gear, to follow the control gear in driving. And it keeps the zero backlash actively while the LOS stabilization system is driven. In this way, the displayed video of the LOS stabilization system can be stable under the zero backlash system. Because it won''t have an overshoot, a steady-state error, etc. In addition, a high performance LOS stabilization system could be realized by ensuring the fast responsibility and the wide bandwidth.
목차
제 1 장 서 론 11.1 연구배경 11.2 관련연구 진행상황 61.3 연구목적 8제 2 장 제로 백래쉬 시선안정화 장치 102.1 제로 백래쉬 구현원리 102.2 제로 백래쉬 시스템 구조설계 122.3 웜 기어 구조분석 132.4 제로 백래쉬 속도차 정의 142.5 모터제어요소 16제 3 장 모델링 및 제어기설계 183.1 시스템 모델링 183.2 제어기 설계법을 이용한 제어기 설계 203.3 시뮬레이션 23제 4 장 실험 및 고찰 254.1 실험방법 254.2 실험결과 및 고찰 284.3 향후연구계획 30제 5 장 결론 32참고문헌 34[별첨1] Nomenclature 36[별첨2] 부하계산 및 웜 기어 파라미터 37[별첨3] 주요 실험장치 구성품 40[별첨4] 실험장치 3D모델링 42[별첨5] 블록다이어그램 43
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