• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.12
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• pp.1925-1930
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• 2010

For high-speed/high-accuracy position control of a gantry-moving-type linear motor, we propose a nonlinear adaptive controller including a synchronization algorithm. Linear motors are easily affected by force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbances. Synchronization error is also caused by skew motion, model uncertainties, and force disturbance on each axis. Nonlinear effects such as friction and ripple force are estimated and compensated for. The synchronization algorithm is used to reduce the synchronous error of the two side pillars. The performance of the controller is evaluated via computer simulations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.3
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• pp.369-374
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• 2010

Linear motors are easily affected by load disturbances, force ripples, friction, and parameter variations because there are no mechanical transmissions that can reduce the effects of model uncertainties and external disturbance. In this study, a nonlinear adaptive controller to achieve high-speed/high-accuracy position control of a two-axis linear motor is designed. The operation of this controller is based on a cross-coupling algorithm. Nonlinear effects such as friction and force ripples are estimated and compensated for. An enhanced cross-coupling algorithm is proposed for effectively improving the biaxial contour accuracy while achieving closed-loop stability. The proposed controller is evaluated by performing computer simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.174-180
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• 1996

The friction is one of the nonlinearities to be considered in the precise position control of a system which has electromechanical components. The friction has complicated nonlinear characteristics and depends on the velocity, the position and the time. The conventional fixed friction compensator and the controller based on linear control theory may cause the steady state position error or oscillation. The plant to be controlled in this study is a positioning system with a linear brushless DC motor(LBLDCM). The system behaves like a 4th-order model including the compliance and the friction. In this study, the plant model is simplified to a 2nd-order model to reduce the computation in on- line estimation. Also, to reduce the computation time, only the friction is estimated on-line while the mass and the viscous damping coefficient are fixed to the values obtained from off-line estimation. The validity of the proposed scheme is illustrated with the computer simulation and the experiment where the friction is compensated by using the estimation.

• The korean journal of orthodontics
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• v.34 no.3 s.104
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• pp.253-260
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• 2004

Frictional force between the orthodontic bracket and arch wire during sliding tooth movement is related to many factors, such as the size, shape and material of both the bracket and wire, ligation method and the angle formed between the bracket and wire. There have been clear conclusions drawn in regard to most of these factors, but as to the effect of bracket width on frictional force there are only conflicting studies. This study was designed to investigate the effect of bracket width on the amount of frictional forces generated during clinically simulated tooth movement. Three different widths of brackets $(0.018{\times}0.025'\;standard)$ narrow (2.40mm), medium (3.00mm) and wide (4.25mm) were used in tandem with $0.016{\times}0.022'$ stainless steel wire. Three bracket-arch wire combinations were drawn on for 4 minutes on a testing apparatus with a head speed of 0.5mm/min and tested 7 times each. To reproduce biological conditions, dentoalveolar models were designed with indirect technique using a material with similar elastic properties as periodontal ligament (PDL). In addition, to minimize the effect of ligation force, elastomer was used with added resin, which was attached to the bracket to make up for the discrepancies of bracket width. The results were as follows: 1. Maximum frictional force for each bracket-arch wire combination was: Narrow (2.40mm): $68.09\pm4.69gmf$ Medium (3.00mm): $72.75\pm4.98 gmf$ Wide (4.25mm): $72.59\pm4.54gmf$ 2. Frictional force was increased with more displacement of wire through the bracket slot. 3. The ANOVA psot-hoc test showed that the bracker width had no significant effect on frictional force when tested under clinically simulated conditions(p>0.05).

• The Transactions of the Korean Institute of Power Electronics
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• v.3 no.3
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• pp.165-172
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• 1998

The electromechanical energy conversion conditioning and processing implementation in USM direct motion control system is generally divided into two power stages: the two-phase high-frequency ac power inversion stage for driving piezoelectric ceramic PZT transducer array off the USM stator and the mechanical thrust power conversion stage based on the frictional force between the piezo electric stator array and the rotary slider of the USM. However, the dynamic and steady-state mathematical modeling of the USM is extremely default from a theoretical point of view because it contains many complicated an nonlinear characteristics dependant on operation temperature. In +2$0^{\circ}C$~3$0^{\circ}C$, the operating characteristics of the USM has represented normal condition. But the other temperature, it has abnormal condition so that driving frequency, current and motor speed will be down. The recent USM has controller without temperature compensation. This study represents the fuzzy controller for speed compensation according to operating temperature by driving frequency.

• 한국신재생에너지학회:학술대회논문집
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• 2005.06a
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• pp.586-591
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• 2005

우리나라는 에너지의 안정적 공급과 에너지이용 과정에서 발생하는 환경적, 안보적 외부성을 최소화하는 에너지수급 구조를 마련하기 위해 2003년 12월 '제2차 신재생에너지 기술개발 및 이용보급 기본계획(2003-2012)'을 발표하였다. 이 계획에서는 2011년까지 전체 TPES의 $5\%$를 신재생에너지로 공급하는 것을 정책목표로 수립하고 수소, 태양광 그리고 풍력기술을 중점적으로 추진하기로 하였다. 특히 수소부문에서는 주택 및 건물용, 발전용, 수송용 연료전지의 개발을 중심으로 개발하여 세계 기술시장의 $20\%$를 확보한다는 계획을 발표하였다. 이러한 기술 잠재력을 기반으로 우리 정부도 미국이나 일본과 같이 수소경제로의 전환을 준비하고 있으며 2020년대 이후 우리나라의 에너지부문은 새로운 국면에 접어들 것으로 전망된다. 에너지나 환경기술의 효과적 인 개발을 위해서는 이들 기술의 직접적인 비용측면에 대한 분석 즉 경제성 평가와 새로운 기술변화로 인한 중장기적인 사회경제적 영향평가가 선행되어야 한다. 이러한 평가는 대상 기술의 사회경제적 파급효과가 광범위할수록 더욱 복잡한 분석이 요구된다. 본 연구의 주제인 수소에너지기술은 지금까지 이용되던 것과는 전혀 새로운 에너지캐리어(carrier)를 개발하는 것으로 에너지부문 및 여타 다른 산업부문이 공유하고 있는 에너지 관련 인프라의 전면적인 조정이 요구되며 에너지 이용과 관련된 사회경제적 측면의 급속한 변화를 수반한다. 본 연구는 수소경제로의 이행에 대한 사회경제적 영향평가의 방법론적 요소들과 기법을 제시한다."중등도 독성"으로 나타났다 이상의 결과는 전기도금을 이용하여 교정용 선재의 직경을 증가시키는 방법이 임상에 적용되기 위해서는 세포독성을 줄이기 위한 추가의 연구가 필요함을 시사하였다.의하게 가장 낮은 정지. 운동 마찰력을 보였고 브라켓-호선 각도가 증가함에 따라 유의하게 정지, 운동 마찰력도 증가하였다 (P<0.001)%$ 낮추지만(p value=0.260) 평균 $D_{max}$는 거의동일 하여($0.3\%$ 감소, p value=0.867), 전통적인 방법보다 우수성이 크게는 없는 것으로 평가되었다. 그러나 환자의 체곡선이 보상체와 잘 일치하는 경우에는 DII가 $18\%$까지 감소하였다. 결론 : Multistatic field 방법은 모든 환자에 대하여 선량분포의 균일성을 전반적으로 향상시키는 효과적인 방법으로 평가되는 반면 공용보상체의 사용은 보상체의 크기가 환자의 체 윤곽과 잘 일치하는 경우만 효과적으로, 적용의 범위에는 한계가 있는 방법으로 평가되었다.비교하여 계통에 따르는 차이가 있음을 알 수 있었다. 그러므로 가임기 여성의 방사선 진단 및 치료시 Rugh의 10일 법칙을 적용하여 착상전기 방사선 조사로 인한 부작용들을 적극적으로 예방하는 것이 매우 중요하다고 생각한다.equirements of the prematured infants during the early weeks of life. 모든 치근단 수준에서 비표준화 medium 크기 master cone 사용군이 ISO 표준화 규격의 master cone 사용군에 비해

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.1
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• pp.33-38
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• 2002

In this paper, a Two-Degree-of-Freedom-Controller(TDFC) for DC motors based on inverse dynamics and the fuzzy technique is presented. The proposed controller includes the inverse dynamic model of a DC motor system, a prefilter and a fuzzy compensator. The model of the system is characterized by a nonlinear equation with coulomb friction. The prefilter eliminates high frequency effects occurring when the inverse dynamic model is implemented. The fuzzy compensator is designed for tracking the change of the reference input and simultaneously regulating the error between the reference input and the system output which can be caused by disturbances. The optimal parameters of both the model and the compensator are identified by a real-coded genetic algorithm. An experimental work on a DC motor system is carried out to verify the performance of the proposed controller.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.180-185
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• 2014

DC motor is a representative electric motor commonly utilized in various motion control fields. However, DC motor-based motion control systems suffer from degradation of position precision due to nonlinear static friction. In order to enhance control precision, friction model-based compensators have been introduced in previous researches, where friction models are identified and counter inputs are added to control inputs for cancelling out the identified friction forces. In this paper, a static friction compensator is proposed without use of a friction model. The proposed compensation algorithm utilizes internal state manipulation to generate compensation pulses, and related parameters are easily tuned experimentally. The proposed friction compensator is applied to a DC motor-based motion control system, and results are presented in comparison with those without a friction compensator.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.4
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• pp.462-470
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• 1999

In this paper, we proposed a cross-couple controller for compensating nonlinear friction of the X-Y table of CNC machines. Due to the nonlinearity of the frictions, large contour errors, referred to as quadrant glitches, occur when each axis of the X-Y table makes a zero velocity crossing. To reduce the quadrant glitches the friction compensators and nonlinear friction observers for estimating Coulomb frictions are employed in the proposed method. A hyperbolic tangent function is used in reducing the magnitude of quadrant glitches and the CEM (Contour Error Model) is utilized for the estimation of the velocities. The performance of the proposed compensators is evaluated for several trajectories by computer simulations.

• 전자공학회논문지 IE
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• v.46 no.4
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• pp.73-77
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• 2009

This paper presents the trajectory tracking control for mobile robot. The designed controller consists of kinematic and dynamic controller. Kinematic controller has two gains and it reduces the trial time for gain setting as compared convectional controller with three gains. Dynamic controller includes the compensation of friction and disturbance. It can improve the performance of the trajectory tracking under the various environment. Simulation results shows that the proposed controller has a stable performance.