• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.193-196
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• 2001

In this paper we designed CAMC-SP, the microprocessor embedded 2-axis motor control chip which controls a precise pulse motor by generating the pulse needed to control step motor, DC servo and AC servo motor. This design enables to decrease costs and to minimize a size. First we designed risc type 8-bit microprocessor compatible with PIC16C84, second we designed pulse motor controller. CAMC-SP is integrated of those two block. We designed CAMC-SP by VHDL and we testified to the Performance of it by performing functional simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.90.6-90
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• 2002

An active stick which has the variable force-feel characteristics is developed. A combined position and force control strategy is mechanized using a 2-axis built-in force sensor and LVDT. The 2-axis force sensor which measures the stick force felt by the operator is developed by using strain gages and appropriate instrumental amplifiers. A mathematical model of the active stick dynamics is derived, and compared with the experimental results. The frictional torque of the stick due to the mechanical contacts of several parts makes the experimental frequency responses to be dependent on the magnitude of excitation signal, and the precision closed loop control to be difficult. A friction observe...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.339-344
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• 1993

An H$_{\infty}$ control system design for a magnetic levitation system is presented. In the control system design, we consider the influence of both disturbances and uncertainties in the model. The main disturbances stem from the position sensors.The uncertainties are divided into electromagnetic and mechanical ones: the former are due to the gain change in the current amplifier, the influence of leakage flux and modelling error in the magnetic circuit and the latter are due to the changes of the mass and the moments of inertia of the vehicle. Therefore, the designed controller is indispensable to guarantee the robustness of this system for both stability and performance. The controller design is based on the standard H$_{\infty}$ optimal control problem. As the novel features in this paper :(1) there are two poles on j.omega.-axis in the control model;(2) an integrator is included in the controller so that equivalently there are three poles on j.omega.-axis in the model. Finally, several experiments and simulations are carried out to verify the high performance and robustness of the designed control system.m.

• International Journal of Aeronautical and Space Sciences
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• 제11권2호
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• pp.131-135
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• 2010

We report on the design of a three-axis missile autopilot using multi-objective control synthesis via linear matrix inequality techniques. This autopilot design guarantees $H_2/H_{\infty}$ performance criteria for a set of finite linear models. These models are linearized at different aerodynamic roll angle conditions over the flight envelope to capture uncertainties that occur in the high-angle-of-attack regime. Simulation results are presented for different aerodynamic roll angle variations and show that the performance of the controller is very satisfactory.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1275-1278
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• 1997

Cutting process has been automated by progress of CNC and CAD/CAM, but polishing process has been depended on only experiential knowledge of expert. To automate the polishing pricess polishing robot with 2 degrees of freedom which is attached to a machining center with 3 degrees of freedom has been developed. this automatic polishing robot is able to keep the polishing tool normal on the curved surface of die to improve a performance of polishing. Polishing task for a curved surface die demands repetitive operation and high precision, but conventional control algorithm can not cope with the problem of disturbance such as a change of load. In this research, we develop robust controller using real time sliding mode algorithm. To obtain gain parameters of sliding model control input, the signal compression method is used to identify polishing robot system. To obtain an effect of 5 degrees of freedom motion, 5 axes NC data for polishing are divided into data of two types for 3 axis machining center and 2 axis polishing are divided into data of two types for 3 axis machining center and 2 axis polishing robot. To find an efficient polishing condition to obtain high quality, various experiments are carried out.

• 한국운동역학회지
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• 제29권2호
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• pp.61-70
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• 2019

Objective: This study aimed to investigate the characteristics of the declination of the subtalar joint rotation axis and the structural features of the ankle joint complex such as rear-foot angle alignment and ligament laxity test between chronic ankle instability (CAI) patients and healthy control. Method: A total of 76 subjects and CAI group (N=38, age: $23.11{\pm}7.63yrs$, height: $165.67{\pm}9.54cm$, weight: $60.13{\pm}11.71kg$) and healthy control (N=38, age: $23.55{\pm}7.03yrs$, height: $167.92{\pm}9.22cm$, weight: $64.58{\pm}13.40kg$) participated in this study. Results: The declination of the subtalar joint rotation axis of the CAI group was statistically different from healthy control in both sagittal slope and transverse slope. The rear-foot angle of CAI group was different from a healthy control. Compared to healthy control, they had the structure of rear-foot varus that could have a high occurrence rate of ankle varus sprain. CAI group had loose ATFL and CFL compared to the healthy control. Conclusion: The results of this study showed that the deviation of the subtalar joint rotation axis and the structural features of the ankle joint complex were different between the CAI group and the healthy control and this difference is a meaningful factor in the occurrence of lateral ankle sprains.

• Journal of Biosystems Engineering
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• 제34권5호
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• pp.305-314
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• 2009

The purpose of this paper was to design an effective control system of 1-axis exciter for a seat vibration test of agricultural tractors using MATLAB simulation. The developed simulation model was composed with a hydraulic pump, a hydraulic servo valve, a hydraulic cylinder and load system. Also it was verified by comparing the simulation results with experimental results of actual control system in order to optimize the control performance. And in order to improve its control performance, the designed PID controller in this research was tuned using Ziegler-Nichols 2nd law and zero's moving method of PID controller's transfer function. As the result of these research, the developed position control system was able to control the system's position accurately within 5% errors.

• The Korean Journal of Ceramics
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• 제6권2호
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• pp.116-119
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• 2000

The a-axis and c-axis prefer oriented SBT thin films could be deposited on Pt(111)/Ti/$SiO_2$$650^{\circ}C$). The c-axis preferred orientation of SBT film can be obtained by Sr deficiency and high compressive stress. However, the a-axis-oriented grains can be formed under stoichiometric Sr content and nearly stress-free state.

• 센서학회지
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• 제20권5호
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• pp.351-356
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• 2011

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. Their hand and fingers are fixed on the hand fixing system for rehabilitation exercise of them. But the hands clenched the fist of stroke patients are difficult to fix on it. In order to fix the hands and fingers, their palms are pressed with pressing bars and are controlled by reference force. The fixing system must have a five-axis force/moment sensor to force control. In this paper, the five-axis force/moment sensor was developed for the hand fixing system of finger-rehabilitation exercising system. The structure of the five-axis force/moment sensor was modeled, and designed using finite element method(FEM). And it was fabricated with strain-gages, then, its characteristic test was carried out. As a result, the maximum interference error is less than 2.43 %.

• 제어로봇시스템학회논문지
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• 제15권12호
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• pp.1169-1174
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• 2009

In this paper, a prototype of implementable Sun tracking algorithm for mobile systems powered by alternative energy is proposed. The proposed system uses 2-axis tilt sensor and 3-axis magnetic sensor to measure orientation and posture of the system according to the horizon coordinates system, which are used to compensate tilt effects. Then through astronomical calculation using the present time and position informations obtained from GPS sensors, the calculated azimuth and altitude of the Sun in that location. The position of the Sun is converted to that of the mobile Sun tracking system coordinates and used to control A-axis and C-axis of the system.