• International Journal of Korean Welding Society
• /
• 제2권2호
• /
• pp.51-56
• /
• 2002

The weld seam tracking system for arc welding process uses various kinds of sensors such as arc sensor, vision sensor, laser displacement sensor and so on. Among the variety of sensors available, electro-magnetic sensor is one of the most useful methods especially in sheet metal butt-joint arc welding, primarily because it is hardly affected by the intense arc light and fume generated during the welding process, and also by the surface condition of weldments. In this study, a dual-electromagnetic sensor, which utilizes the induced current variation in the sensing coil due to the eddy current variation of the metal near the sensor, was developed for arc welding of sheet metal I-butt joints. The dual-electromagnetic sensor thus detects the offset displacement of weld line from the center of sensor head even though there's no clearance in the joint. A set of design variables of the sensor was determined far the maximum sensing capability through the repeated experiments. Seam tracking is performed by correcting the position of sensor to the amount of offset displacement every sampling period. From the experimental results, the developed sensor showed the excellent capability of weld seam detection when the sensor to workpiece distance is near less than 5 ㎜, and it was revealed that the system has excellent seam tracking ability for the I-butt joint of sheet metal.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2063-2066
• /
• 2005

This paper presents an approach to detect the dielectric condition of FRP Hot Stick in EHV high voltage cable whereas shutting down the power system is not necessary. The radio frequency generating method is adopted by transmitting radio wave into the Electrodes. This instrument is small, easy to use and also inexpensive. Furthermore, the impurity level of dirt on high voltage insulator (non-ceramic type) will be analyzed by using the methods based on IEEE Std.978-1984 at 105 kV.DC. /305 mm. and OSHA Regulation 1910.269 Part J - live line tools. The frequency at 10-20 MHz is applied to FRP Hot Stick via Electrode1 and from FRP Hot Stick surface to Electrode 2. After that the results will be evaluated by testing in each condition of FRP Hot Stick, such as dry surface, hot surface, foil winding and conductor inserting. Finally, the watt loss will be examined and compared with the loss from humidity and Carbon tracking. The important components of this system are radio frequency generating unit, frequency stabilizing unit, frequency amplifier, FRP Hot Stick frequency counter, processing unit, and display unit.

• Journal of Welding and Joining
• /
• 제13권4호
• /
• pp.122-131
• /
• 1995

An automatic welding equipment for thick plates requires the capability of the seam tracking of the weld line which often includes misalignment of the workpiece and variation of groove width. In this study, an automatic welding equipment and control algorithms based on the arc sensor were proposed for the GMA welding of thick plates which had misalignment and gap variation. The developed system being constituted with 5 axis can be automatically controlled by computer and also automnatically set the welding conditions such as welding current, and voltage. The proposed algorithms for the seam tracking in multi-pass welding of the thick plates were constituted as follows : the detection of weaving-end point for findng the variation of groove width, the control of welding velocity for acquiring a constant thickness deposition of weld metal, and the calculation of groove width and height of an arbitrary pass in the multi-pass weld. As results of the application of the system, it was revealed that the system had a good capability in seam tracking and made an excellent weld quality in V groove butt joint.

• 전기학회논문지P
• /
• 제54권4호
• /
• pp.211-216
• /
• 2005

In this paper a robust controller using adaptive backstepping technique is proposed to control the speed of wind power generation system. To make wind power generation truly cost effective and reliable, advanced and robust control algorithms are derived to on-line adjust the excitation winding voltage of the generator based on both mechanical and electrical dynamics. This method is shown to be able to achieve smooth and asymptotic rotor speed tracking, as justified by analysis and computer simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
• /
• pp.705-710
• /
• 1989

A practical method of identifying the inertial parameters, viscous friction and Coulomb friction of a robot is presented. The parameters in the dynamic equations of a robot are obtained from the measurements of the command voltage and the joint position of the robot. First, a dynamic model of the integrated motor and manipulator is derived. An off line parameter identification procedure is developed and applied to the University of Minnesota Direct Drive Robot. To evaluate the accuracy of the parameters the dynamic tracking of robot was tested. The trajectory errors were significantly reduced when the identified dynamic parameters were used.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2008년도 제39회 하계학술대회
• /
• pp.1691-1692
• /
• 2008

In this paper, the adaptive neural network technique is proposed to control the speed of wind power generation system. For maximizing generated power effectively, adaptive neural algorithm based on SRWMM(Self Recurrent Wavelet Neural Network) is derived to on-line adjust the excitation winding voltage of the generator. Through computer simulations, it is shown that the proposed method can achieve smooth and asymptotic rotor speed tracking.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 학술대회 논문집 전문대학교육위원
• /
• pp.128-131
• /
• 2005

In this paper a robust controller using adaptive backstepping technique is proposed to control the speed of a wind turbine system. To make wind power generation truly cost effective and reliable, advanced and robust control algorithms are derived to on-line adjust the excitation winding voltage of the generator based on both mechanical and electrical dynamics. This method is shown to be able to achieve smooth and asymptotic rotor position tracking, as justified by analysis.

• 대한전기학회논문지
• /
• 제39권7호
• /
• pp.765-772
• /
• 1990

A practical method of identifying the inertial parameters, viscous friction and Coulomb friction of a robot is presented. The parameters in the dynamic equations of a robot are obtained from the measurements of the command voltage and the joint position of the robot. First, a dynamic model of the integrated system of the mainpulator and motor is derived. An off-line parameter identification procedure is developed and applied to the University of Minnesota Direct Drive Robot. To evaluate the accuracy of the parameters the dynamic tracking of the robot was tested. The trajectroy errors were significantly reduced when the identified dynamic parameters were used.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 제38회 하계학술대회
• /
• pp.1227-1229
• /
• 2007

In this paper a robust controller using adaptive backstepping technique is proposed to control the position of wind power generation system. To make wind power generation truly cost effective and reliable, advanced and robust control algorithms are derived to on-line adjust the excitation winding voltage of the generator based on both mechanical and electrical dynamics. This method is shown to be able to achieve smooth and asymptotic rotor speed tracking, as justified by analysis and computer simulation.

• 한국정밀공학회지
• /
• 제21권12호
• /
• pp.84-91
• /
• 2004

A CCD camera with a laser stripe was applied to realize the automatic weld seam tracking in GMAW. It takes relatively long time to process image on-line control using the basic Hough transformation, but it has a tendency of robustness over the noises such as spatter and arc tight. For this reason, it was complemented with adaptive Hough transformation to have an on-line processing ability for scanning specific weld points. The adaptive Hough transformation was used to extract laser stripes and to obtain specific weld points. The 3-dimensional information obtained from the vision system made it possible to generate the weld torch path and to obtain the information such as width and depth of weld line. In this study, a neural network based on the generalized delta rule algorithm was adapted for the process control of GMA, such as welding speed, arc voltage and wire feeding speed.