• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.50 no.8
• /
• pp.361-366
• /
• 2001

This thesis proposes a fuzzy logic cross coupled controller for a multi axis servo system. The overall control system consists of three elements: the axial position controller, the speed controller, and a fuzzy logic cross coupled controller. In conventional multi axis servo system, the motion of each axis is controlled independently without regard to the motion of other axes, in which the contour error, defined as the shortest distance between the desired and actual contours is compensated only by the position error of each axis. This decoupled control approach may result in degraded contouring performance due to such factors as mismatch of axial dynamics and axial loop gains. In practice, such systems contain many uncertainties, Therefore, the multi axis servo system must receive and evaluate the motion of all axes for a better contouring accuracy. Cross coupled controller utilizes all axis position error information simultaneously to produce accurate contours. However the existing cross coupled controllers cannot overcome friction, backlash and parameter variation. Also, since it is difficult to obtain an accurate mathematical model of multi axis system, here we investigate a fuzzy logic cross coupled controller method. Some simulations and experimental results are presented to illustrate the performance of the proposed controller.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2001.04a
• /
• pp.271-274
• /
• 2001

The present paper deals with the development of digital contouring controller for multiaxial servosystem. Instead of coordinating the commands to the individual feed drives and implementing closed position loop control for each axis, this work is achieved by the evaluation of a optimal cross-couple compensator aimed specifically at improving contouring accuracy in multi-axial feed drives. The optimal control formulation explicitly includes the contour error in the performance index to be minimized. The contouring control is simulated for straight line. The results show that the proposed controller reduces contouring errors considerably, as compared to the conventional uncoupled control for biaxial systems.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.15 no.6
• /
• pp.105-113
• /
• 2006

This work is concerned with the development of digital contouring controller for multi-axial servosystems. Digital optimal contouring controller is proposed to coordinate each of the controllers of multiple feed drives and specifically improve the contouring performance. The optimal control formation includes the contour error explicitly in the performance index to be minimized. The contouring control is exercised for straight line and circular contours. Substantial improvement in contouring performance is obtained for a range of contouring conditions. Both steady state and transient error measures have been considered. The simulation study presented has established the potential of the proposed controller to improve contouring performance.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.11a
• /
• pp.297-302
• /
• 2007

Vibrating test of vehicle component can be possible in lab-based simulators instead of field testing owing to the development of technology in control algorithm as well as computational process. Currently, Multi-Axial Simulation Table(MAST) is recommended as a vibrating equipment, which excites a target component for 3-directional translation and rotation motion simultaneously and hence, vibrational condition can be fully approximated to that of real road test. But, the vibration-free performance of target component is not guaranteed with MAST system, which is only simulator subjective to the operator. Rather, the reliability of multi-axial vibration test is dependent on the quality of input profile which should cover the required severity of vibrating condition on target component. In this paper, multi-axial vibration testing methodology of vehicle component is presented here, from data acquisition of vehicle accelerations to the obtaining the input profile of MAST using severe data at proving ground. To compare the severity of vibration condition, between real road test and proving ground one, energy principle of equivalent damage is proposed to calculate energy matrices of acceleration data and then, it is determined the optimal combination of special events on proving ground which is equivalent to real road test at the aspects of vibration fatigue using sequential searching optimal algorithm. To explain the vibration methodology clearly, seat and door component of vehicle are selected as a example.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.14 no.6
• /
• pp.160-170
• /
• 2006

If hydraulic pump controlled by mechanical type regulator has more than one control function, the construction of regulator will be very complicated and control performance falls drastically. It is difficult to have more than one control function for hydraulic pump controlled by electronic type hydraulic valve due to the inconsistency of controllers. This paper proposes a multi-function control technique which controls continuously flow, pressure and power by using EPPR(Electronic Proportional Pressure Reducing) valve in swash plate type axial piston pump. Nonlinear mathematical model is developed from the continuity equation for the pressurized control volume and the torque balance for the swash plate motion. To simplify the model we make the linear state equation by differentiating the nonlinear model. A reaction spring is installed in servo cylinder to secure the stability of the control system. We analyze the stability and disturbance by using the state variable model. Finally, we review the control performances of flow, pressure and power by tests using PID controller.

• Proceedings of the Korean Institute of Surface Engineering Conference
• /
• 2018.06a
• /
• pp.72-72
• /
• 2018

A dynamic fatigue characteristic of dental implant system has been evaluated with applying single axial compressive shear loading based on the ISO 14801 standard. For the advanced dynamic fatigue test, multi-directional force and motion needed to be accompanied for more information of mechanical properties as based on mastication in oral environment. In this study, we have prepared loading and motion protocol for the multi-directional fatigue test of dental implant system with single (Apical/Occlusal; AO), and additional mastication motion (Lingual/Facial; LF, Mesial/Distal; MD). As following the prepared protocol (with modification of ISO 14801), fatigue test was conducted to verify the worst case results for the development of highly stabilized dental implant system. Mechanical testing was performed using an universal testing machine (MTS Bionix 858, MN, USA) for static compression and single directional loading fatigue, while the multi-directional loading was performed with joint simulator (ADL-Force 5, MA, USA) under load control. Basically, all mechanical test was performed according to the ISO 14801:2016 standard. Static compression test was performed to identify the maximum fracture force with loading speed of 1.0 mm/min. A dynamic fatigue test was performed with 40 % value of maximum fracture force and 5 Hz loading frequency. A single directional fatigue test was performed with only apical/occlusal (AO) force application, while multi directional fatigue tests were applied $2^{\circ}$ of facial/lingual (FL) or mesial/distal (MD) movement. Fatigue failure cycles were entirely different between applying single-directional loading and multi-directional loading. As a comparison of these loading factor, the failure cycle was around 5 times lower than single-directional loading while applied multi-directional loading. Also, the displacement change with accumulated multi-directional fatigue cycles was higher than that of single directional cycles.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.8
• /
• pp.65-72
• /
• 1997

An asymmetrical cross-coupled compensator to improve the contouring performance is proposed. This is a refinement of the structure suggested by Koren. The position loop is closed with a proportional controller as in the uncoupled system. An additional input term proportional to the component of the contour error along the corresponding axis is included. The controller gains are chosen to give an appropriate frequency response and an optimum range for the damping ratio. The effectiveness of the proposed controller is studied by means of digital simulations of the dynamics of the drives and the controller for 4 types of command trajectories: straight line contour, cornering contour, circular contour, elliptic contour. Substantial improvement in contouring performance is obtained for a range of contouring conditions.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.11
• /
• pp.794-801
• /
• 2017

When a radial wheel is placed so as to partially overlap a conductive plate and rotated, a lift force is generated on the wheel, a thrust force along the edge, and a lateral force which tends to reduce the overlap region. When several of these wheels are combined, it is possible to realize a system in which the stability of the remaining axes is ensured, except in the traveling direction. To validate the overall characteristics of the multi-wheel system, we propose a transfer system levitated magnetically using radial electrodynamic wheels. The proposed system is floated and propelled by four wheels and arranged in a structure that allows the thrusts generated by the front and rear wheels to offset each other. The dynamic stability of the wheel and the effect of the pole number on the three-axial forces are analyzed by the finite element method. At this time, the thrust and levitation force are strongly coupled, and the only factor affecting them is the wheel rotation speed. Therefore, in order to control these two forces independently, we make use of the fact that the ratio of the thrust to the levitation force is proportional to the velocity and is independent of the size of the gap. The in-plane and out-of-plane motion control of the system is achieved by this control method and compared with the simulation results. The experimental results show that the coupled degrees of freedom can be effectively controlled by the wheel speed alone.