• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.10 no.4
• /
• pp.40-47
• /
• 2001

In this pater, the QLQG/LTR control method is applied for the position control of the nonlinear timing belt driving sys-tem. Parameters fo the plant are identified by genetic algorithm and nonlinear elements, such as Coulomb friction and dead-zone, and quasi-linearized by RIDE method. Comparing with the LQG/LTR contro. the QLQG/LTR has similar structures of the LQG/LTR, but this method can consider nonlinear effects in designing the controller. Thus, the QLQG/LTR control system is robust to hard nonlinearities such as Coulomb friction, dead-zone, etc. Forma given hard non-linear system through experiments, it is shown that the tracking performance of the QLQG/LTR control system can be very improved that the LQF/LTR control system.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.16 no.4
• /
• pp.649-657
• /
• 1992

Transmission error for a stepping motor-timing belt drive system is investigated experimentally and analytically. From FFT analysis of the experimental results, it is found that the transmission error consists of three periodic errors : (1) error by the stepping motor per one resolution angle theta.$_{m}$, (2) error by the pulley eccentricity per one revolution theta.$_{e}$, and (3) error by the meshing effect between the belt and the pulley teeth per one pitch revoltion theta.$_{p}$. In order to investigate the effects of some design parameters on the transmission error, the dynamic models of the stepping motor-timing belt drive system are derived by Bondgraph. According to the simulation results, as the belt total tension increases, theta.$_{m}$ and theta.$_{e}$ decrease due to the nonlinearity of the belt. In adition, the numerical and experimental results show that theta.$_{m}$ and theta.$_{e}$ of the loaded case are larger than those of the unloaded case. The analytical results are in good accordance with the experimental results.sults.s.sults.

• Journal of the korean Society of Automotive Engineers
• /
• v.14 no.4
• /
• pp.79-89
• /
• 1992

The behavior of belt tension in OHC drive timing belt system was investigated analytically and experimentally for (1)fixed and (2)automatic tensioner. From the numerical results it was found that the automatic tensioner makes the belt tension larger than those of the fixed tensioner. When the initial belt tension decreased due to the belt elongation, the belt tension of the fixed tensioner could decrease to near zero while the belt tension for the automatic tensioner maintained above zero by the tensioner spring. The mean valve and the difference between the maximum and the minimum belt tension for the automatic tensioner increased compared with those of the fixed tensioner. Also, the numerical results for a hydraulic tensioner showed that the hydraulic tensioner has the good parts of both tensioners; i.e., thesmaller amplitude in belt tension and the higher mean tension. Experimental results for the automatic and fixed tensioner of the OHC timing belt system were in agreement with the theoretical results.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2024.01a
• /
• pp.307-309
• /
• 2024

세계적으로 물류 자동화 시장은 2026년까지 약 44조원으로 예상되며, 연평균 10.6%의 성장률을 기록할 것으로 예측된다. 특히 국내 시장은 2025년까지 연평균 성장률 11.5%로 1조원 이상으로 전망되고 있다. 2025년까지 물류 자동화 시장은 270억 달러로 급성장할 것으로 예상되며, 반도체 분야에서 로봇이 상품 입고, 보관, 상품 피킹, 분류, 출고 작업을 담당하는 트렌드가 강조된다. 본 논문은 반도체 물류 분야를 대상으로 작은 크기와 민첩성을 갖춘 로봇을 개발하여 작업 공간을 효율적으로 활용하고 인력을 최소화하려는 목적이다. 수직 및 수평 로봇은 효율적인 자동화 시스템을 제공하며, UI를 사용하여 AGV, 선반, 스카라 로봇을 하나의 통합 시스템으로 개발하고자 한다. 특히 코드 인식, 초음파 센서, 아두이노 MCU, 스카라 로봇, AGV 등을 활용한 로봇 시스템을 개발하여 반도체 물류 작업을 효율적으로 수행하고자 한다. 다양한 분야에서 활용 가능한 스카라 로봇을 개발하기 위해 마이크로 스텝과 풀리, 타이밍 벨트를 이용한 구동 방식 등을 채택한다. 반도체 물류 센터에서의 자동화는 물류 공간의 확대와 인건비 절감을 기대할 수 있으며, 로봇 및 드론을 활용하여 인건비 절감과 효율성 향상을 통해 기업 비용 절감에 기여할 것으로 예상된다.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.10 no.4
• /
• pp.659-666
• /
• 2006

Servo-motors are used as key components of automated system by performing precise motion control as accurate positioning and accurate speed regulation in response to the commands from computers and sensors. Especially, the linear brushless servo-motors have numerous advantages over the rotary servo motors which have connection with the friction induced transfer mechanism such as ball screws, timing belts, rack/pinion. This paper proposes an estimation method of unknown motor system parameters using the informations from the sinusoidal driving type linear brushless DC motor dynamics and outputs. The estimated parameters can be used to tune the controller gain and a disturbance observer. In order to meet this purpose high performance Digital Signal Processor, TMS320F240, designed originally for implementation of a Field Oriented Control(FOC) technology is adopted as a controller of the liner BLDC servo motor. Having A/D converters, PWM generators, rich I/O port internally, this servo motor application specific DSP play an important role in servo motor controller. This linear BLDC servo motor system also contains IPM(Intelligent Power Module) driver and hail sensor type current sensor module, photocoupler module for isolation of gate signals and fault signals.