• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.12
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• pp.1209-1218
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• 2016

In order to safely and speedily transport a load such as a large glass plate using four electric cylinders, the synchronous error outside the permitted range should not be continuously generated between the cylinders. In this study, a methodology of synchronous control which can be applied to synchronization of four or more cylinders is developed. The synchronous control system based on the decoupling structure is composed of a reference model, position and synchronous controllers in the respective cylinders. The reference model is used for calculating the decoupled synchronous error and control input for the each cylinder. The position controller of I-PD type is designed in order that the cylinder may follow the reference signal without overshoot and input saturation. And the synchronous controller of lead compensator is designed to achieve stable and accurate synchronization through loop shaping approach. Finally, the simulation results show that the synchronization between the four cylinders can be quickly and stably while each cylinder rod is transferred to the target point under torque disturbance.

• Journal of Navigation and Port Research
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• v.31 no.6
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• pp.523-530
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• 2007

Crane systems are very important in industrial fields to carry heavy objects such that many investigations about control of the systems are actively conducted for enhancing its control performance. This paper presents an adaptive control approach using the model matching for a complex 3-DOF nonlinear crane system. First, the system model is linearized through feedback linearization method and then PD control is applied in the approximated model. This linear model is considered as nominal to derive corrective control law for a perturbed crane model using Lyapunov theory. This corrective control is primitively aimed to compensate real-time control deviation due to partially known perturbation. We additionally study stability analysis of the crane control system using Lyapunov perturbation theory. Evaluation of our control approach is numerically carried out through computer simulation and its superiority is demonstrated comparing with the classical control.

• Journal of the Institute of Convergence Signal Processing
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• v.8 no.2
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• pp.124-129
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• 2007

Recently, the application of the linear machine for industrial field is remarkably increased, especially for the gantry machine, machine tool system and CNC. However a linear meter remains the vibrational characteristic itself therefore, In these application fields, high position control performance is essentially required in both the steady and the transient states. In this paper, the design method for a position control is proposed by using the two-degree-of freedom PID controller. This method has great features for the linear machine drives such as no over-shoot phenomena and single gain tuning strategy. By comparison with conventional PID controller, the improvement of performance of a linear motor control system using two degrees of freedom controller are discussed. Through the simulation results, the usefulness of the proposed algorithm is proved. With the simulation results, it was made clear that the introduction of two degrees of freedom controller designed by the proposed method not only improves the over shoot and starting characteristic of response but also removes the undesirable characteristic variation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.11
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• pp.1613-1622
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• 2010

In this paper, the ultraprecision positioning control of an ultrasonic linear motor in a high-vacuum environment is presented. The bolt-clamped Langivin type transducer (BLT) with the 3rd longitudinal; and 6th lateral vibration modes was developed, which was excited by using the Eigen resonance frequency for two vibration modes in order to generate stable and high power. In practical applications, however, even if a geometrical design has an Eigen frequency, discordance between both mode frequencies can be generated by the contact mechanism and because of manufacturing errors as well as environmental factors. Both mode frequencies were precisely matched by adjusting the impedence. By using this method, the BLT can be driven under any environmental conditions. The nominal characteristic trajectory following(NCTF) control method was adopted to control the positioning of the system in vacuum. The developed linear motor stage show high positioning accuracy with 5 nm.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.7
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• pp.62-70
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• 1999

To achieve precision positioning, working area is required within $5mm{\times}5mm$ and positioning error is allowed within minimum ${\pm}4{\mu}m$. As a general three-layered table takes working range from several centimeters and a few tens of centimeters, it has disadvantages compared with precision positioning table, such as larger working range and rough accuracy. In this paper we design and implement a parallel $XY{\theta}$ table with three linear actuators, where one is on the horizontal direction and the others on the vertical direction on behalf of a degree of $XY{\theta}$ freedom. Finally, the experimental results of precision positioning is showed by using new image processing algorithms with two CCD cameras.

• Proceedings of the Korea Water Resources Association Conference
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• 2020.06a
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• pp.32-32
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• 2020

하나의 수계 또는 용수구역 내에서 작물생육기간 동안 지하수자원 수요량의 집중적인 증가로 인해 지역적 지하수 고갈이 발생하여 농작물 피해가 발생하고 있으며 과잉양수로 인한 지하수위 하강으로 사용자간 갈등도 빈번하다. 또한, 기후변화로 인해 극한기후인 가뭄의 잦은 발생은 이러한 현상을 가속화 한다. 지하수 산출성이 좋은 대수층의 공간적 분포는 복잡한 지질구조로 인해 균일하지 않으며 같은 대수층 내에서도 양수 위치에 따라 산출성은 다르게 나타난다. 이러한 지하수 수요와 공급 및 대수층 분포로 인한 지하수자원 불균형의 해소를 위해 지하수가 풍부한 지역에서 부족한 지역으로 지하수를 공급하는 방법을 적용할 수 있다. 이때 기술적용 지역의 지하수 사용 상황 및 공급 가능량을 정량적으로 평가하고 이를 기반으로 지하수 공급을 제어하는 것이 매우 중요하다. 지하수자원의 수요-공급 불균형이 발생할 때 즉각적으로 대응하기 위해서는 실시간으로 지하수 현황을 감시하고 이를 기반으로 공급 가능량을 산정할 필요가 있으며 이는 정보통신기술(Information and Communication Technology, ICT)에 기반한 관정연계관리체계(Well Network System, WNS)를 구성하는 기술 중 하나인 관정군집제어 기술로 구현될 수 있다. 수계 내에 설치된 기존의 양수정과 새롭게 추가된 관측정들을 4G LTE 네트워크를 통해 하나의 관정군으로 묶고 중앙 서버를 통한 자료 분석 및 양수 펌프 제어를 통해 대수층의 공급 능력과 사용자의 수요 현황에 따른 지하수자원의 체계적 분배를 구현하고자 하였다. 관정군집제어는 관정별 지하수위 및 양수정 양수량을 실시간으로 관측하고 이를 분석서버에 전송하여 해당 지하수계의 공급 가능량 및 인접관정 간섭 등을 분석하여 양수정의 펌프를 실시간으로 제어하고 양수된 지하수를 수요 지역으로 이송한다. 본 연구를 통해 관정군집제어 기술의 구현에 필요한 구성요소를 정의하고 이에 대한 구현 방법을 기술하여 WNS를 구성하는 하나의 요소기술 모델로 제시하고자 하였다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.11
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• pp.794-801
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• 2017

When a radial wheel is placed so as to partially overlap a conductive plate and rotated, a lift force is generated on the wheel, a thrust force along the edge, and a lateral force which tends to reduce the overlap region. When several of these wheels are combined, it is possible to realize a system in which the stability of the remaining axes is ensured, except in the traveling direction. To validate the overall characteristics of the multi-wheel system, we propose a transfer system levitated magnetically using radial electrodynamic wheels. The proposed system is floated and propelled by four wheels and arranged in a structure that allows the thrusts generated by the front and rear wheels to offset each other. The dynamic stability of the wheel and the effect of the pole number on the three-axial forces are analyzed by the finite element method. At this time, the thrust and levitation force are strongly coupled, and the only factor affecting them is the wheel rotation speed. Therefore, in order to control these two forces independently, we make use of the fact that the ratio of the thrust to the levitation force is proportional to the velocity and is independent of the size of the gap. The in-plane and out-of-plane motion control of the system is achieved by this control method and compared with the simulation results. The experimental results show that the coupled degrees of freedom can be effectively controlled by the wheel speed alone.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.5
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• pp.471-479
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• 2006

Automatic transfer equipments of manufacturing and process line trend toward big size as LCD glass is big size, heavy weight. The conventional stocker uses rotational motor and mechanical power converter device as travel axis of stocker crane and then frequent maintenances by complex structure and mechanical friction are required. Also it has problem to minimize the particle generation. To solve these problems, this paper verified the performance of permanent magnet(PM) excited transverse flux linear motor(TFLM) that is big power density per unit volume applied for travel axis of 7 generation stocker that is being big size, high power, long distance by the experiment based on proposed control algorithm, controller and power converter device.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.61-72
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• 2005

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The experimental results for an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.557-561
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• 2016

Recently, in the manufacturing process of flat panel displays, mass production methods of inline system has been emerged. In particular the next generation OLED display manufacturing process, horizontal inline evaporation process has been tried. It is important for the success of OLED inline evaporation process to develop a magnetic levitation transport system capable of transferring a carrier equipped with a mother glass with high accuracy without any physical contact along the rail under vacuum condition. In the case of existing wheel-based transfer system, it is not suitable for OLED evaporation process requiring high cleanliness. On the other hand, the magnetic levitation transport system has an advantage that it does not generate any dust and it is possible to achieve high-precision control because there are not non-linear factors such as friction force. In this paper, we introduce the high-precision magnetic levitation transport system, which is currently under development, for OLED evaporation process.