모터드라이버의 강건한 위치제어를 위한 Linear Quadratic Regulator 및 외란 관측기 설계

Abstract

In the case of a multi-joint robot control system that requires numerous computational loads, having a robust low-level control (i.e., position control) in each motor driver brings significant advantages. It can reduce the computational load of the high-level controller and reduce the cost of maintenance because it makes the system simple. To implement robust position control in the motor driver, it is necessary to identify an equivalent model of the motor system and implement advanced control techniques based on the derived model. In this paper, the motor system was identified using Pseudo Random Binary Signal (PRBS) and Batch Formula method. In addition, based on the derived model, Linear Quadratic Regulator (LQR) and Disturbance Observer (DOb) techniques were implemented for robust and stable position control against disturbances. As a result, the position error was reduced by up to 82% compared to the general Proportional-Derivative (PD) controller under uncertain disturbances.