| Title |
Position Controller of Rail Guided Unmanned Monitoring System with the Driving Slip Compensator |
| Authors |
배종남(Bae, Jongnam) ; 곽윤창(Kwak, Yunchang) ; 이동희(Lee, Dong-Hee) |
| DOI |
https://doi.org/10.5370/KIEE.2017.66.5.792 |
| Keywords |
Rail guided unmanned monitoring system ; Driving slip compensator ; Position controller ; Micro-step mode |
| Abstract |
The real time unmanned monitoring system of an equipment's internal parts and condition requires the monitoring device to be able to stop at a set location on the rail. However, due to the slip between the driving surface and the roller, an error occurs between the actual position and the command position. In this paper, a method to compensate the position error due to the roller slip is proposed. A proximity sensor located at both ends of the rail detects the starting point and the maximum position pulse, linearly compensating the error between the angular position of the motor and the mechanically fixed starting and maximum position pulse of the rail in forward and reverse direction. Moreover, unlike the existing servo position controller, the motor adopts the position detection method of Hall sensor in BLDC (Brushless DC) and applies an algorithm for low-speed driving so that a stable position control is possible. The proposed rail guided unmanned monitoring system with driving slip compensator was tested to verify the effectiveness. |