표제지
목차
요약 12
ABSTRACT 14
제1장 서론 16
1.1. 연구배경 16
1.2. 연구동향 17
1.3. 논문의 목적 19
제2장 배경이론 20
2.1. DC Motor Modeling 20
2.2. PID 제어기의 제어 23
2.3. Graph and Consensus Theory 26
2.3.1. Graph Theory 26
2.3.2. Consensus Theory 27
제3장 제어기 설계 29
3.1. 제어기 설계 30
3.1.1. 분산 PID 알고리즘 설계 30
3.1.2. 분석 30
3.2. ANTI-WINDUP 제어 33
3.2.1. ANTI-WINDUP 기법을 이용한 분산 PID 알고리즘 33
3.2.2. 분석 33
제4장 실험 및 결과 36
4.1. 실험구성 및 파라미터 측정 36
4.2. 실험 결과 40
제5장 결론 45
APPENDIX 46
참고문헌 55
[TABLE 1] Motor specification 36
[TABLE 2] Motor driver specification 37
[TABLE 3] Arduino specification 38
[Fig 1-1] Schematic diagram of the n-color gravure printing machines 16
[Fig 1-2] Structure of master-slave technique 17
[Fig 1-3] Block diagram of adjacent cross-coupling control 18
[Fig 1-4] Block diagram of multi-motor systems using arduino 19
[Fig 2-1] Electrical and mechanical construction diagram of DC motor 20
[Fig 2-2] DC Motor block diagram 22
[Fig 2-3] Schematic diagram of PID controller 23
[Fig 2-4] Current value (PV) by proportional action 24
[Fig 2-5] Current value by PI control data 25
[Fig 2-6] Block diagram of general anti-windup 26
[Fig 4-1] The driving part of the DC motor 36
[Fig 4-2] The driving part of the DC motor driver 37
[Fig 4-3] Part of the arduino 37
[Fig 4-4] Structure of the overall DC motor system 38
[Fig 4-5] Experiment measuring motor parameters 39
[Fig 4-6] Communication topology between 5 motor systems. 40
[Fig 4-7] Experimental results using proposed PID algorithm. 40
[Fig 4-8] Experimental results using proposed PID algorithm with anti-windup. 41
[Fig 4-9] Mean absolute errors(left) and ISE performance indices(right). 42
[Fig 4-10] Ring graph(left) and Complete graph(right). 42
[Fig 4-11] Experimental results under ring graph 43
[Fig 4-12] Experimental results under complete graph 43
[Fig 4-13] Mean absolute errors(left) and ISE performance indices(right) 44