Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Design of Fuzzy Controller for a 2-Dimensional Wire-Driven Heavy Material Lifting System

2차원 와이어 구동식 중량물 권양 시스템을 위한 퍼지제어기 설계

  • Lee, Yong-Chan (School of Electronics Engineering, College of IT Engineering, Kyungpook National University) ;
  • Lee, Hyeng-Jun (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)
  • 이용찬 (경북대학교 IT대학 전자공학부) ;
  • 이형준 (경북대학교 IT대학 전자공학부) ;
  • 이연정 (경북대학교 IT대학 전자공학부)
  • Received : 2015.03.17
  • Accepted : 2015.04.10
  • Published : 2015.04.25
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Abstract

A fuzzy controller and a 2-dimensional wire-driven heavy material lifting system helping human operator are proposed in this paper. The 2-dimensional wire-driven heavy material lifting system is a kind of human-assistive systems in which a human is involved in the control loop. Most of the existing human-assistive control systems cannot consider human operator's characteristic. To consider human operator's characteristic, human's operating motion and requirement of reducing operator's force to lift a heavy material are considered in the design process of the proposed fuzzy controller. The performance of the proposed system is verified by experiments.

본 논문에서는 중량물을 들어 올리는 작업자를 돕기 위한 2차원 와이어 구동식 중량물 권양 시스템과 퍼지제어기를 제안한다. 2차원 와이어 구동식 중량물 권양 시스템은 사람이 전체 제어루프에 포함된 인간지원시스템의 일종이다. 기존 인간지원시스템 대부분의 제어 방식이 사용자의 특성을 고려하지 못하는 단점을 해결하기 위하여 물건을 들어 올리는 작업자의 힘을 덜어주어야 하는 요구조건과 사람의 작업 모션을 고려한 퍼지제어기 설계 방식을 제안한다. 실험을 통해 제안된 시스템의 2차원 작업 모션의 성능을 검증한다.

Keywords

References

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