Decoupling and servo controller design for the JINAMCHA system using eigenstructure assignment

Author

Kim, Joo Ho ; Choi, Jae Weon

Author_Institution

Sch. of Mech. Eng., Pusan Nat. Univ., South Korea

fYear

1999

fDate

36373

Firstpage

1037

Lastpage

1042

Abstract

We consider a decoupling and servo control for the JINAMCHA system of which the cart and the pointer are coupled very strongly. The right eigenstructure assignment (i.e. simultaneous assignment of eigenvalues and right eigenvectors) scheme is used for decoupling the motions of the cart and the pointer, and the command generator tracker (CGT) is used for servo control of the JINAMCHA system. The performance of the proposed control scheme, that is, the performance of the combined control scheme of the right eigenstructure assignment and the CGT is evaluated by simulations. The results show that the proposed controller has better performance than the LQR with limiting properties and the conventional LQ servo

Keywords

closed loop systems; control system synthesis; eigenstructure assignment; feedback; motion control; servomechanisms; JINAMCHA system; combined control scheme; command generator tracker; decoupling; right eigenstructure assignment; servo control; Closed loop systems; Control systems; Eigenvalues and eigenfunctions; Hydrogen; Mechanical engineering; Servomechanisms; Servosystems; Steady-state; Tracking; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual, 1999. 38th Annual Conference Proceedings of the

Conference_Location

Morioka

Print_ISBN

4-907764-13-8

Type

conf

DOI

10.1109/SICE.1999.788694

Filename

788694