• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2403-2405
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• 2004

본 논문에서는 회전과 무게이동을 할 수 있는 모터를 가진 로봇의 위치 제어와 로봇의 궤적과 구조식에 관해 연구를 수행한다. 로봇의 끝단의 위치를 제어 할 수 있는 스윙 모터의 각과 리프트 모터의 각도를 구하는 과정과 연속움직임을 통한 로봇의 움직임을 관찰한다. 예제를 통해 제어 방법의 유용성과 실용성을 검증하고자 한다.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.8
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• pp.1246-1253
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• 2009

This paper presents derived a calculating form of fuzzy inference, based on decomposition of $\alpha$-level sets. Based on the calculating form it is propose that fuzzy logic circuits of PI+PD controller are a body from fuzzy inference to defuzzificaion in cases where the command variable u directly is generated PWM. The effect of quantization on $\alpha$-levels is investigated. with input/out characteristics of fuzzy controller by simulation. It is concluded that 4 quantization levels are sufficient result for fuzzy control performance of DC servo system. Simulation and experimental results demonstrated that the hardware implementation of the proposed controller can successfully provide good performance on the position control of DC servo system.

• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.705-713
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• 2009

This paper proposes CORBA-based visual servoing system of humanoid robot. To effectively control the humanoid robot which is connected to network, it needs to define necessary services for visual servoing as distribution object, and realize them in the middleware. For realizing it following services should be addressed. Naming service for searching a necessary service with unique name assigned to each object, image service for supplying image obtained from stereo camera. In the experiment, we show the result of balloon tracking and bursting that the robot tracks balloons as target objects in the real time, and if a balloon stop for a certain time, then the robot bursts the balloon.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.510-515
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• 1993

본 연구에서는 저속에서도 시스템의 자세 제어가 용이하게 하기 위하여 추진기 뒤에 제어판이 위치하도록 설계하였으며, 일반 서보 시스템과는 달리 무게와 공간 제약이 크고, 제어판 운동에 따른 외란 등록성의 변화가 심하므로 push-pull 형태의 소형, 고출력 편로드 복동 복수 실린더의 작동기를 설계하였다. 또한 일반적으로 서보밸브와 작동기는 일체형으로 설계되나 본 시스템의 공간상 심한 제약으로 인하여 서보밸브와 작동기를 분리하는 방법으로 구조설계를 하고 그 사이 유로는 매니폴드식으로 하여 동력전달을 하였다. 설계된 구동장치를 실제 정밀제작하여 실험을 수행하였으며, 시뮬레이션 결과와 실험에 의하여 얻어진 결과를 비교 분석하여 설계의 타당성 및 시스템의 성능을 검증하였다. 고속 수중운동체에 대하여 저속에서 자세제어를 용이하게 하고, 제한된 좁은 설치공간의 문제점을 해결하기 위하여 1) 추진기 후미에 독립된 4개의 상, 하, 좌, 우 제어판 설치 2) 서보밸브는 몸체에, 작동기는 Tail Tube에 분리 작동 설계 3) 소형의 편로드 복동 복수 실린더로 설계 구성된 유압식 구동장치는 시뮬레이션과 실험 결과를 통하여 시스템의 타당성을 입증하였다. 그러므로, 개발한 구동장치는 저속에서도 큰 제어력으로 자세 제어가 용이하기 때문에 얕은 수심에서 발사시 예상되는 위험 요소를 상다ㅇ 개선 시키므로써 운용범위의 다양화를 가져 올것으로 기대된다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.3
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• pp.467-472
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• 2006

This study has been done to design a precise system and develop position control algorithm to control a Composite Smoke Bomb Azimuth driving apparatus of a BLDC servo motor. Having to Blind the sight of opposite tank. the Smoke Bomb Rotational driving system needs instant response that is able to detect opponent appearance and blast the bomb at a short time. So a design that shows fast current response capability or $300[Hz]\sim500[Hz]$ is proposed. in the MIN-MAX PWM technology is used to increase the operational speed. in order to control the blasting position, a precision position control algorithm that utilizes the integral value of speed trajectory is suggested. Also these characteristics are monitored and assessed by the PC based monitoring program which shows the graphs of current, voltage, position, and speed parameters. The main controller is based on a TMS320VC33 high performance floating-point DSP(Digital Signal Process) and the PWM generator utilizes EPM7128 CPLD.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.12
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• pp.102-109
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• 2019

This paper describes the design of the circuit card assembly to eliminate the communication error on a servo control unit installed in the automated resupply vehicle K56. K56 is a weapon system that automates the supply and loading of ammunition on the K-55A1 self-propelled artillery. As the core item responsible for ammunition movement control, the servo control unit is required to have good communication stability and reliability, but the conventional unit has recognized a problem that communication error intermittently occurs, resulting in an emergency stop phenomenon. We analyzed the communication signal of the servo control unit and identified the failure cause of the circuit card assembly to solve this problem. In addition, the signal interference in data/address line of the circuit card assembly was confirmed through analysis of the failure cause, and redesigned to avoid the interference, such as adjustment of the distance between communication lines and position change. Finally, the proposed cause analysis and redesign were verified through the component of servo control unit and attachment test on K56. We expected these study results to be used as reference for the design of other similar items.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.3
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• pp.66-74
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• 2005

This paper presents an implementation of digital servo speed control system of SPMSM(Surface-mounted Permanent Magnet Synchronous Motor) for industrial application with Direct Torque Control(DTC) using TMS320F2812 DSP. Although, the vector control scheme is adapted in many industrial servo system, but the DSP calculation ratio is increased by reference frame transformation and SVPWM of vector control. Therefore, this paper investigate the possibility of DTC scheme for industrial servo drive system instead of vector control scheme. DSP calculation ratio is compared between vector control and DTC algorithm in addition to the characteristic of speed control response. The suggested SPMSM control system shows the possibility of DTC scheme for industrial servo motor drive system instead of a vector control algorithm.

• Proceedings of the KIPE Conference
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• 2007.11a
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• pp.157-159
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• 2007

본 연구는 인코더를 사용한 Flatbed scanner DC 서보 모터시스템의 저속 제어기 설계 기법을 제안한다. 실제 구동되는 저속에서 DC 모터 시스템을 MSR 알고리즘으로 모델링하여 파라미터의 변동과 부하 외란을 추정하고, 속도 제어주기마다 위치 추종명령을 계산하여 실제 위치에 대한 에러를 보상하도록 설계함으로써 저속에서의 속도 추종능력을 향상시킨다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.619-620
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• 2012

• Proceedings of the KIEE Conference
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• 1985.07a
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• pp.306-309
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• 1985