Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Operator Modeling and Design of Fuzzy Controller for a Wire-Driven Heavy Material Lifting System

와이어 구동식 중량물 권양 시스템을 위한 퍼지제어기 설계 및 작업자 모델링

  • Song, Bo-Wei (School of Electronics Engineering, College of IT Engineering, Kyungpook National University) ;
  • Seo, Hyun-Duk (School of Electronics Engineering, College of IT Engineering, Kyungpook National University) ;
  • Lee, Yun-Jung (School of Electronics Engineering, College of IT Engineering, Kyungpook National University)
  • 송보웨이 (경북대학교 IT대학 전자공학부) ;
  • 서현덕 (경북대학교 IT대학 전자공학부) ;
  • 이연정 (경북대학교 IT대학 전자공학부)
  • Received : 2013.09.17
  • Accepted : 2013.10.15
  • Published : 2013.10.25
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Abstract

This paper presents design methods of a fuzzy controller and an operator model for a wire-driven heavy material lifting system helping human workers. The wire-driven heavy material lifting system is a kind of human-assistive systems in which a human is involved in the control loop. Thus, human's control characteristics and requirement of reducing worker's force to lift a heavy material are considered in the design process of the proposed fuzzy controller. An automatic weight measurement algorithm during the early stage of lifting is also introduced. Finally, the effectiveness and performance of the proposed system are proved by experiments.

본 논문에서는 중량물을 들어 올리는 작업자를 돕기 위한 와이어 구동식 권양 시스템의 제어기와 제어기 설계를 위한 작업자 모델링을 제시한다. 와이어 구동식 중량물 권양 시스템은 사람이 전체 제어루프에 포함된 인간지원시스템의 일종이다. 사람의 제어 특성 모델과 물건을 들어 올리는 작업자의 힘을 덜어주어야 하는 요구조건을 고려한 퍼지제어기 설계 방식을 제안한다. 또한 권양 초기 구간에서 중량물의 무게를 자체적으로 측정하여 구동될 수 있는 방식도 소개한다. 마지막으로 성능 검증을 위해 실험을 통하여 제어기의 무게 측정의 정확도를 분석하고 중량물을 작업자가 작은 힘으로 편하게 들어 올릴 수 있는지 그 결과를 분석한다.

Keywords

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