AC Servo Motor와 Ball screw를 이용한 정밀 위치제어시스템의 기계적 특성 분석 및 개선

The Mechanical Characteristic Analysis and Improvement of Precision Position Control System with AC Servo Motor and Ball Screw

Effect of coulomb friction and backlash on the single loop position control has been studied for the precision position control. We have showed the limit cycle on the single loop system which used a ball screw that had the backlash. Also, we have made an inner loop with a classical velocity and torque controller which was forcing the current of d axis to be zero by using a permanent-magnet synchronous motor and composed the outer loop with linear encoder for sensing a position of the loader. Also, we have used least squares fit(LSF) observer for reducing noise when we got velocity from position outputs. We have shown a good result by using the dual loop through simulation and experiment.