• 한국정밀공학회지
• /
• 제25권4호
• /
• pp.26-31
• /
• 2008

본 논문은 정밀 위치결정 시스템의 잔류진동을 효과적으로 제거할 수 있는 입력성형기법을 소개하고, 실시간 입력성형기법을 적용하는 방법을 설명하였다. 또한 두 가지 응용 분야에 대한 실험결과를 바탕으로 입력성형기법의 성능을 고찰하였다. 일반적으로 입력성형기법은 정밀 위치결정 시스템에 대해 동작 완료시간을 단축시키는 효과가 있을 뿐만 아니라 위치결정 정밀도를 향상시키는 효과가 있다. 그리고 되먹임제어 방법에 비해 적용방법도 간단하며 저렴하게 구성할 수 있다는 장점이 있으므로 많은 정밀 위치결정 시스템에 유용할 것으로 생각된다.

• 대한기계학회논문집A
• /
• 제35권11호
• /
• pp.1423-1428
• /
• 2011

본 논문은 비선형 구동기를 포함한 유연시스템의 잔류변위저감을 위한 학습입력성형제어기를 제시한다. 제시되는 제어기는 비선형 구동기에 대한 입력성형제어기, 반복최소자승법 및 설계변수 updating rule 을 통합하여 개발된다. 비선형 구동기에 대응한 입력성형제어기 설계변수의 updating mechanism 을 개선하기 위한 잔류변위 측정함수가 제시된다. 제시된 제어방법을 pendulum system 에 적용하여 변수추정의 수렴성과 변위저감제어성능의 평가를 통해 수치해석적으로 실용성이 검증된다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집B
• /
• pp.127-133
• /
• 2001

The flexibility of long reach manipulators presents a difficult control problem when accurate end-point position is required. Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems. However, existing shapers has been considered robustness for only frequency uncertainty. However, this paper presents new multi-hump convolution(CV) input shaper that could accommodate with the simultaneous variation of natural frequency and damping ratio. Comparisons with previously proposed input shapers are presented to illustrate the qualities of the new input shaper. These new shapers will be shown to have better robustness for the variation of frequency and damping ratio.

• 한국생산제조학회지
• /
• 제18권3호
• /
• pp.255-260
• /
• 2009

This paper presents an experimental result of virtual mode input shaping for positioning stage. Input shaping is liable to increase the rise time of the system, which often degrades the performance of system. The virtual mode input, shaping is an input shaper design method to improve this problem. Experiments are performed with a precise positioning stage with a flexible beam of which natural frequency is adjustable. The experimental results show that the virtual-mode shaper is useful to reduce the rise time as well as the residual vibration of precise positioning stages.

• 한국정밀공학회지
• /
• 제17권4호
• /
• pp.181-188
• /
• 2000

Input shaping is a method fur reducing residual vibration. Vibration is eliminated by convolving an input shaper, which is a sequence of impulses, with the desired system command. It has been applied to robot with a flexible manipulator. But it can be applied to the reduction of residual vibration far overhead crane. In this paper, input shaping shows good performance for anti-sway of overhead crane. In the z-domain, we designed an input shaper and calculated the sensitivity of it. If sensitivity is calculated in the z-domain, the shapes of sensitivity curves are expected easily. Accordingly, it is easy to design an input shaper in the z-domain. We compared the response of a system with shaper to it without that. Also, we compared El shaper to ZV shaper in view of robustness.

• 한국정밀공학회지
• /
• 제30권7호
• /
• pp.717-724
• /
• 2013

Industrial cranes are indispensable equipment in heavy industry. However, unwanted vibrations in cranes often cause accidents. Input shaping is widely accepted as a useful tool for removing residual vibration in cranes. A unity magnitude zero vibration (UMZV) input shaper is often used for cranes driven by on-off-type motors. However, although a UMZV input shaper minimizes residual vibration, the input shaper cannot prevent the crane from moving slightly further than expected from the original command. This paper describes an improved method of input shaping that can compensate for position inaccuracies, as well as remove the residual vibration of cranes. Experiments were performed to validate the proposed input-shaping method, illustrated through numerical simulations.

• 한국정밀공학회지
• /
• 제18권5호
• /
• pp.112-119
• /
• 2001

A variety of input shaper has been proposed to reduce the residual vibration of flexible structures. Multi-hump input shaper is known to be robust for parameter variations. However, existing approach should solve the more complicated nonlinear simultaneous equations to improve the robustness of the input shaper with the additional constraints. In this paper, by proposing a graphical approach which uses convolution of shaper, the multi-hump convolution input shaper could be designed even if the constraints are added for further robustness. With a mass-damper-spring model, the better performance is obtained using the proposed new multi-hump convolution input shaper.

• 한국정밀공학회지
• /
• 제26권4호
• /
• pp.100-106
• /
• 2009

The current tendency toward light weight and fast machines has lead to a need to suppress vibration of flexible dynamic systems. Input shaping is an efficient tool to eliminate transient and residual vibration caused by motion of these systems. This paper proposes a new formulation of the design method for multi-mode input shapers to eliminate residual vibration in flexible dynamic systems. The essence of the proposed method is to minimize the number of impulses to be n+1 for n-mode input shapers. This paper also suggests a solution procedure to solve the complex-valued nonlinear matrix equation for the input shapers. The proposed method is applied to two-mode input shapers. This paper discusses characteristics of several input shapers obtained under the same condition. Simulations and experiments show that the proposed method is very useful for designing multi-mode input shapers.

• 한국정밀공학회지
• /
• 제28권9호
• /
• pp.1032-1039
• /
• 2011

This paper presents results of input shaping to industrial cranes. A brief theoretical background for input shaping is described. Several examples of input shaping application to sway regulation for industrial cranes are presented. The presented results show that input shaping is very useful for industrial cranes.

• 한국도로학회논문집
• /
• 제9권4호
• /
• pp.55-63
• /
• 2007

노상토의 변형특성은 포장체의 역학적 해석 및 설계에서 매우 중요한 입력물성치다. 본 연구에서는 시편 성형방법에 따른 국내 노상토의 변형특성 평가를 위하여. 다양한 성형기법을 적용하여 만들어진 시편에 대한 공진주시험을 수행하였다. 시편 성형방법에 따라서 최대탄성계수는 영향 받았으나 정규화탄성계수 감소곡선은 영향받지 않았다. 시편 성형기법의 영향은 구속응력이 증가할 수록 감소하였다. 시편 성형방법에 따른 탄성계수의 평균적인 최대편차는 16.8%로 나타났다. 동일한 함수비 및 건조단위중량 조건에서 선회다짐과 충격다짐으로 성형된 시편의 탄성계수 차이는 5.2% 이내로 매우 작았다. 충격다짐의 장점은 선회다짐에 비하여 보다 간편하고 시편성형 장비비용이 저렴하여 실무적용성이 우수함을 고려하여 설계입력물성치 결정을 위한 시편성형기법으로서 충격다짐기법을 제안하였다.