• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.474-478
• /
• 1992

The non-rational transfer function of a Bernoulli-Euler beam, as an important component of a flexible structure, is analyzed. The true pattern of zeros of that transfer function is investigated as a function of sensor and actuator seperation. Translational displacement sensors are used for two cases in which a force input and a moment input are seperately applied. When the displacement sensor is located at a certain point, the first pair of zeros on the real axis of the s-plane arrive at the origin and cancel the rigid-body mode. The location of the translational displacement sensors on the beamat which the rigid-body mode of the beam is unobservable is analyzed as the center of percussion and is uniquely located for each case. If sensor is moved beyond such a point, a pair of zeros appear on the imaginary axis and move away from the origin along the imaginary axis of the s-plane.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
• /
• pp.302-305
• /
• 1999

Twin-servo mechanism is used to increase the payload capacity and speed of high precision motion control system. In this paper, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. This proposed control algorithm consists of separate feedback motion control algorithm of each driving system and skew motion compensation algorithm between two systems. Robust model reference tracking controller is proposed as a separate motion controller and its disturbance attenuation property is shown. For the synchronizing motion, skew motion compensation algorithm is designed, and the stability of whole Closed loop system is proved based on passivity theory.

• 제어로봇시스템학회논문지
• /
• 제13권7호
• /
• pp.649-655
• /
• 2007

In this paper, a time-delayed controller for position control of humanoid robot arms is designed and implemented on a field programmable gate array(FPGA) chip. The time-delayed control algorithm is simple to implement, and robust to reject disturbances. The time-delayed control method uses the one sample time-delayed previous information to cancel out uncertainties in the system. Since the sampling time is so fast with the current hardware technology, the time-delayed controller can be implemented. However, inertia values should be correctly estimated to have the better performance. The position tracking tasks of humanoid robot arms are tested to compare performances of several control algorithms including the time-delayed controller.

• 한국광학회지
• /
• 제5권1호
• /
• pp.45-50
• /
• 1994

짝수 차의 회절빔을 선택적으로 소거하여 짝수 개의 회절빔 어레이를 얻는 이진 위상 회절격자의 설계 방법을 제안하였고, 설계시 최적화 속도에 관여하는 상수 및 독립변수에 관하여 논하였다. 그리고 $1{\times}2에서 1\times}20$까지의 최적해를 구하였고, 그 실험 결과를 나타내었다.

• 센서학회지
• /
• 제23권1호
• /
• pp.24-28
• /
• 2014

A lock-in amplifier was proposed for capacitive sensor applications. This amplifier was based on a general-purpose microcontroller and had only a charge amplifier as analog circuits. All the other functions of lock-in amplifier except for the charge amplifier were implemented with firmware and the internal resources of the microcontroller. A rectangular signal, generated by the microcontroller, was used in a sensor-driving signal instead of a conventional sinusoidal signal. This makes it possible that the phase comparison circuit in the lockin amplifier is made with analog-to-digital converter, a timer and an interrupt controller. Using the oversampling method and the rectangular driving signal, we can make it easy to implement the peak detection function with software and sample the peak-to-peak signal at charge amplifier output. A charge amplifier was proposed to cancel out the base capacitance existing in capacitive sensors structurally. The experimental results show that the lock-in amplifier operating in the supply voltage of 3.0 V cancels out the base capacitance and has good linearity.

• 소음진동
• /
• 제9권3호
• /
• pp.621-628
• /
• 1999

본 논문에서는 평면 계에서의 전기전하 입자의 기본적인 동특성을 간단한 모델을 이용하여 실험적으로 살펴보았다. 실험에서는 전기전하입자 모델로 4개의 소형구(전도체로 표면을 잘 도포한 탁구공)를 사용하였으며, 측정시 중력효과를 배제하기 위하여 잘 절연된 줄에 매달린 형태를 적용하였다. 실험으로 측정한 평형위치(각도)와 전하입자의 고유동수는 계산된 값과 상당히 근접함을 보인다.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2012년도 춘계학술대회 논문집
• /
• pp.614-619
• /
• 2012

A LQG/LTR(Linear Quadratic Gaussian/Loop Transfer Recovery) controller with an integrator is designed to control the electro-hydraulic positioning system. Without considering the nonlinearity in the dead-zone, computer simulations are performed and show good performances and tracking abilities with the feedback controller based on the linear system model. However, the performance of the closed loop hydraulic positioning system shows big steady-state error in real system because of the dead-zone. In this paper, the feedback controller with a nonlinear compensator is introduced to overcome the dead-zone phenomenon in hydraulic systems. The inverse dead-zone as a nonlinear compensator is used to cancel out the dead-zone phenomenon. Experimental tests are performed to verify the performance of the controller.

• Progress in Superconductivity
• /
• 제5권2호
• /
• pp.144-148
• /
• 2004

Uniform current distribution among conductor layers in HTS cables using IPTs (inter-phase transformers) was investigated. Conventional methods for current distribution, in which resistors are inserted to conductor layers, causes additional loss. In contrast, IPTs, which use magnetic coupling, make it possible that the current in parallel circuits is distributed uniformly with any load, and minimize the loss. In this study, IPTs were designed and fabricated for examination of uniform current distribution in the conductor layers of HTS cables. The ITP was designed through calculation of its impedance that can cancel the inductance of the conduction layers. The experimental setup consisted of four IPTs and four inductors that simulate the conductor layer inductance. Each layer was designed to feed 10 A. We examined the behavior of current distribution with IPTs for various layer inductances.

• 제어로봇시스템학회논문지
• /
• 제20권4호
• /
• pp.381-388
• /
• 2014

In this paper, the attitude of a quadrotor system is controlled by a time-delayed control method which uses the previous information to cancel out uncertainties in the system. Although the linear controller works for the attitude control, the robust performance against disturbance is relatively poor. Therefore, a time-delayed controller as a robust controller is used. Experimental studies are conducted to validate the performance by the time-delayed control method. The performances of both a linear controller and a time-delayed controller are compared.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅳ
• /
• pp.2455-2458
• /
• 2003

In this paper, the Classification of Energy Labeling has been Proposed. Energy Parameters of input signal which is extracted from each phoneme is labelled. And groups of labelling according to detected energies of input signals are detected. Next, DTW processes in a selected group of labeling. This leads to DTW processing faster than a previous algorithm. In this Method, because an accurate detection of parameters is necessary on the assumption in steps of a detection of speeching duration and a detection of energy parameters, variable windows which are decided by pitch period is used. Extract algorithms don't search for exact frame energy, because 256 frame window-sizes is fixed. For this reason, a new energy extraction method has been proposed. A pitch period is detected firstly; next window scale is decided between 200 frames and 300 frames. The proposed method make it possible to cancel an influence of windows.