Title :
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
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;
Conference_Titel :
SICE Annual, 1999. 38th Annual Conference Proceedings of the
Conference_Location :
Morioka
Print_ISBN :
4-907764-13-8
DOI :
10.1109/SICE.1999.788694
