• 한국정밀공학회지
• /
• 제15권1호
• /
• pp.60-68
• /
• 1998

Parallel link manipulators have an ability of more precise positioning than serial open-loop manipulators. However. general parallel link manipulators have been restricted to the real applications since they have limited workspace due to interference among actuators. In this study, we suggest a closed-loop manipulator with 6 degrees-of-freedom and with enlarged workspace. It consists of two parts for minimizing the interference among actuators. One part is lower structure with planar 3 degrees-of-freedom and the other is upper one with spatial 3 degrees-of-freedom. Forward kinematics and inverse kinematics are solved, research about singularity points are carried out and workspace is evaluated. The comparison of workspace between Stewart platform, which is the typical parallel link manipulator, and the suggested manipulator shows that the workspace of the latter is wider than that of the former. Especially, simulation results also show that the suggested manipulator is more suitable when there needs rotation in the end-effector.

• Nuclear Engineering and Technology
• /
• 제53권2호
• /
• pp.688-694
• /
• 2021

The aim of this work is the analysis, design and hardware implementation of the fractional-order point kinetics (FNPK) model along with its closed-loop controller. The stability and closed-loop control of FNPK models are critical issues. The closed-loop stability of the controller-plant structure is established. Further, the designed PI/PD controllers are implemented in real-time on a DSP processor. The simulation and real-time hardware studies confirm that the designed PI/PD controllers result in a damped stable closed-loop response.

• Smart Structures and Systems
• /
• 제24권5호
• /
• pp.587-595
• /
• 2019

Deformation measurement of large scale structures, such as the ground beds of high-rise buildings, tunnels, bridge, and railways, are important for insuring service quality and safety. The pose-relay videometrics method and displacement-relay videometrics method have already presented to measure the pose of non-intervisible objects and vertical subsidence of unstable areas, respectively. Both methods combine the cameras and cooperative markers to form the camera series networks. Based on these two networks, we propose two novel videometrics methods with closed-loop camera series network for deformation measurement of large scale structures. The closed-loop camera series network offers "closed-loop constraints" for the camera series network: the deformation of the reference points observed by different measurement stations is identical. The closed-loop constraints improve the measurement accuracy using camera series network. Furthermore, multiple closed-loops and the flexible combination of camera series network are introduced to facilitate more complex deformation measurement tasks. Simulated results show that the closed-loop constraints can enhance the measurement accuracy of camera series network effectively.

• 소음진동
• /
• 제4권2호
• /
• pp.177-185
• /
• 1994

In this study, the effect of parameter errors on the closed-loop behavior of flexible structure is analyzed for IMSC(Independent Modal Space Control) with PPF(Positive Position Feedback). If the control force designed on the basis of structure model with the parameter errors is applied to control the actual system, the closed-loop performance of the actural system will be degraded depending on the degree of the errors. An asymptotic stability condition has been derived, using Lyapunov approach, which is independent of the dynamic characteristics of the structure being controlled. The extent of deviation of the closed-loop performance from the designed one is also derived and evaluated using operator techniques. It has been found that the extent of the deviation is proportational to the magnitude of the parameter errors, and that the proportional coefficient depends on the control algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
• /
• pp.86-89
• /
• 1986

This paper presents a design methodology for a PID regulator. The parameters of the PID regulator are determined through equivalent structure to the closed-loop system whose feedback gain assigns prescribed eigenvalues of the closed-loop system and minimizes a given performance index.

• Smart Structures and Systems
• /
• 제25권4호
• /
• pp.401-408
• /
• 2020

This paper deals with the problem of global stabilization for a class of nonlinear control systems. An effective approach is proposed for controlling the system interaction of structures through a combination of parallel distributed compensation (PDC) intelligent controllers and fuzzy observers. An efficient approximate inference algorithm using expectation propagation and a Bayesian additive model is developed which allows us to predict the total number of control systems, thereby contributing to a more adaptive trajectory for the closed-loop system and that of its corresponding model. The closed-loop fuzzy system can be made as close as desired, so that the behavior of the closed-loop system can be rigorously predicted by establishing that of the closed-loop fuzzy system.

• 한국통신학회논문지
• /
• 제21권6호
• /
• pp.1567-1575
• /
• 1996

This paper presents a new power control method for compensating the short term fading of the reverse link channel in the CDMA mobile telephone system. The fixed step closed loop power control which is now adopted in IS-95, is very simple in structure. However, the step size in the closed loop power control is too big for the channel with a small variation or too big for the channel with a small variation or too small for the channel with a large variation. The method presented in this paper has a simple structure and shows a new model employing the combination of the fixed step size method and variable step size method which results in compensatingthe disadvantages mentioned above. This paper also evaluates the performance inthe fundamental channel model.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1414-1417
• /
• 2003

In this paper, sliding mode controller for discrete-time nonlinear systems with uncertainties and disturbances are proposed. The concept of time-delay control (TDC) which consists of estimating the uncertain dynamics of the system through past observations of the system response is used. The proposed controller guarantees that the closed-loop system states are globally uniformly ultimately bounded (GUUB). It is also shown that the closed-loop system states are globally uniformly asymptotically stable (GUAS) if uncertainties are constant.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 제38회 하계학술대회
• /
• pp.1632-1633
• /
• 2007

This paper presents a new method of designing digital controller based on closed-loop identification of a pulse width modulation (PWM) converter system. We consider the control system structure which is composed of both current control loop and voltage control loop. The current controller can be designed independently of voltage loop. Whereas voltage controller can not do easily due to the PWM switching component which is nonlinear in nature. Furthermore, the control objective of inner loop is to track the sine wave of 60 Hz, but the outer loop shall maintain the constant DC voltage irrespective to load change. To systematically design outer loop controller, we propose a method finding linear approximate model of the nonlinear inner loop part including current controller by closed loop identification. Based on the identified model, we show that a simple digital voltage controller can be directly designed and it has good performance.

• 한국조명전기설비학회:학술대회논문집
• /
• 한국조명전기설비학회 2000년도 학술대회논문집
• /
• pp.199-204
• /
• 2000

Generally, The systems are so complex that it not possible to obtain reasonable model using physical insight. Also a model based on physical insight contains a number of unknown parameters even if the structure is derived from physical laws. To solve these problems, the systems identification is described in this paper. So, AC servo motor system which has both open loop and closed loop is selected as an example for identification. A state-space model of AC servo motor system is identified through open loop experiment and identified through closed loop experiment and using pole placement integral controller to open loop system. As the results, From ARMA model, We have obtained continuous-time state space model.