• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.11 no.5
• /
• pp.65-72
• /
• 2002

In this study, actuator, sensor, guide, power transmission element and control method are considered for ultra-precision positioning apparatus. Through previous process, single plane X-Y stage with ultra-precision positioning is manufactured. Global stage for the purpose of materialization with robust system, is combined by using AC servo motor and ball screw and rolling guide. And ultra-precision positioning system is developed by micro stage with elastic hinge type and piezo element. global servo and micro servo for the purpose of materialization positioning accuracy with nm(nanometer) are controlled simultaneously by using incremental encoder and laser interferometer as displacement measurement sensor. Through previous process, ultra-precision positioning system(100mm stroke and $\pm$ l0nm positioning accuracy) with single plane X-Y stage are materialized.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2000.06a
• /
• pp.1601-1608
• /
• 2000

This paper is concerned with the forced flexural vibration analysis of hard disk drive (HDD) spindle systems with multiple thin disks, supported by two ball bearings based on the finite element model. This is the extension of the previous work which analytically modeled every system component taking into account its structural flexibility and also the centrifugal stiffening effect especially for the disks. Among the end results, the forced time response is expectedly useful for the vibration control of the spindle itself or the position servo control of the magnetic head. On the other hand, the steady state responses such as the frequency response function and the unbalance response are useful for system identification. Futhermore, through a coordinate transformation the equations of motion is also derived with respect to the inertial frame for convenient analyses of certain classes.

• Proceedings of the KIEE Conference
• /
• 2015.07a
• /
• pp.65-66
• /
• 2015

슬라이딩 모드 제어는 모델의 불확실성과 파라미터 변동, 외란으로부터 자유로운 강인제어의 한 방법으로 설계가 용이하고 트래킹 퍼포먼스가 우수하여 널리 쓰이는 제어 방법 중 하나이다. 본 논문에서는 Ball and Beam 시스템에 대해 슬라이딩 모드 제어기를 설계하고 제어시스템을 구현하였다. 매트랩을 활용한 시뮬레이션을 통해 그 제어기의 성능을 검증하였다.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.33 no.5
• /
• pp.508-513
• /
• 2009

Friction is an important factor for precise position tracking control of servo systems. Servo systems with highly nonlinear friction are sensitive to the variation of operating condition. To overcome this problem, we use the LuGre friction model which can consider dynamic characteristics of friction. The LuGre friction model is used as a feed-forward compensator to improve tracking performance of servo systems. The parameters of the LuGre friction model are identified through experiments. The experimental result shows that the tracking performance of servo systems with higherly nonlinear friction can be improved by using feed-forward friction compensation.

• Journal of the korean Society of Automotive Engineers
• /
• v.6 no.2
• /
• pp.39-46
• /
• 1984

There are various ringshaped automotive and machine parts and the study about the characteristics of ring are the important basis of the quality control and performance improvement of outer race of ball bearing, railwheel, ring gear, piston ring, and other ringshaped seals, etc. In this study, the effect of prestress which arise inevitably during the fitting of the ring shape parts and the effect of central line extension/contraction on the vibrational characteristics of ring are verified. Although many studies are made on the vibration of ring, the study about prestress and extension were rather scarce and rare. As a result of the study, a series of frequency formulas are derived. The result of this study can be utilized in the improvement of design as well as in the quality control during the fitting work.

• The Journal of Korea Robotics Society
• /
• v.5 no.3
• /
• pp.177-185
• /
• 2010

In this paper, a wall climbing robot, called LAVAR, is developed, which is using an impeller for adhering. The adhesion mechanism of the robot consists of an impeller and two-layered suction seals which provide sufficient adhesion force for the robot body on the non smooth vertical wall and horizontal ceiling. The robot uses two driving-wheels and one ball-caster to maneuver the wall surface. A suspension mechanism is also used to overcome the obstacles on the wall surface. For its design, the whole adhering mechanism is analyzed and the control system is built up based on this analysis. The performances of the robot are experimentally verified on the vertical and horizontal flat surfaces.

• Food Science and Biotechnology
• /
• v.18 no.1
• /
• pp.73-78
• /
• 2009

Processed meatball products were packaged in a passive package without oxygen scavenger as 1 control and 3 active packages of which have PP-based oxygen scavenger master batch materials (OSMB) of 40, 80, and 100%(w/w) in the middle layer and stored at 23 and $30^{\circ}C$ up to 9 months. Quality changes of packaged products were evaluated by measuring the oxygen concentration of the headspace in containers, thiobarbituric acid (TBA), color, and flavor. The oxygen concentration of the package having 100% OSMB was lower than those of 40 and 80%. The color changes and TBA values of the meat ball in the package containing 100% OSMB were the least among the treatments. Using principal component analysis (PCA), the control showed more flavor change than the packages containing oxygen scavenger. As a result, all active packages could extend the shelf life of the meatball products compared with that of the passive package.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2624-2626
• /
• 2000

The stabilization controls of coupled tank system and ball-beam system are difficult control tasks because of their high order time delay, nonlinearity and structural unstability. Fuhermore, a series of classical methods such as a conventional PID and a full state feedback controller(FSFC) based on the local linearizations have narrow stabilizable regions. Therefore, in this paper, in order to stabilize two representative nonlinear system mentioned above, a Sliding Mode Controller based on a Real Variable Elitist Genetic Algorithm(RVEGA SMC) was proposed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.3
• /
• pp.214-218
• /
• 1997

We propose a VSC(Variable Structure Controller) with a PI-type reaching law. In General, conventional VSCs with a reaching law including a discontinuous term have the chattering problem, and thus the system may be unstable due to the disregarded high frequency dynamics in the modeling process. To resolve this problem, the PI-type reaching law is proposed in this paper. The proposed reaching law makes it easy to determine the reaching dynamics as well as the reaching time by utilizing the 2nd-order system analysis. Furthermore, since the discontinous term is not involved in the reaching law, the chattering is considerably reduced. To show the effectiveness of the proposed scheme, the stability of the proposed system is proved by Lyapunov method and the computer simulations are performed for the Ball Balance System.

• Proceedings of the Korean Powder Metallurgy Institute Conference
• /
• 2006.09a
• /
• pp.360-361
• /
• 2006

Nanostructured aluminum powders were obtained by means of planetary ball milling with methanol as the Process Control Agent (PCA). The behavior, during milling, was considered measuring the microhardness and grain size at different milling times. Bulk near-full density samples were sintered using the Spark Plasma Sintering technology with different schedules: temperature of $500^{\circ}C$ and $550^{\circ}C$, pressure of 30 MPa and 60 MPa and different modes of applying the pressure were changed in order to understand the behavior during sintering. All the samples retained their nanostructure with an increase of the grain size from about 46 up to 70-90 nm.