초록 close

- The high performance position controller named 'Unified PID Position Controller' is presented in part 1 of this paper. In part 2, we provide smart gain adjustment methods including the freedom utilizations for rare sensitivity toward the system parameter variation and for increasing the stiffness of the system. Owing to the provided gain tuning strategy, the overall system characteristics can be stabilized without over-shoot phenomena when the system parameter is changed in the rate of from 0.5 to 2~4. Moreover, for the actual feasibility to the industrial fields, a simple but effective anti-windup strategy prohibiting the integral component of the PID position controller from saturation is presented too. All of the presented algorithms are verified through the experiment works with commercial linear motor..