• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.67-77
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• 2014

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.199-202
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• 1997

In this paper, a novel disturbance observer is proposed in order to regulate the disturbance in motor systems. The proposed observer does not require the implementation of ideal derivative of the state since the inverse of the nominal model is not used in the design of the observer. The transfer gain from a disturbance to the output of the disturbance observer is one. So, there is no time-delay in the response due to the dynamics of the observer.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.38.4-38
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• 2001

In this paper, a novel model following sliding mode control is proposed by using a novel sliding mode with virtual state. This sliding surface has nominal dynamics of an original system and makes it possible that the Sliding Mode Control(SMC) technique is combined with the optimal controller. Its design is based on the argument system whose dynamics have one higher order than that of the original system. The reaching phase is eliminated by using an initial virtual state that makes the initial sliding function equal to zero.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.737-742
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• 1994

In this paper , we propose an incremental approach for recognizing a class of machining features from a featurebased design model as a part design proceeds, utilizing various information such as nominal geometry, design intents, and design feature characteristics. The proposed apptroach can handle complex intersecting features and protrusion features designed on oblique faces. The class of recognized volumetric machining features can be expressed as Material Removal Shape Element Volumes (MRSEVs), a PDES/STEP-based library of machining features.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.612-615
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• 1997

In this paper, a robust speed controller considering the effect of uncertainty (plant parameter variation. external load disturbance. unmodeled and nonlinear dynamics etc..) for induction motor is proposed. Firstly. the dynamic model at nominal case of induction motor is estimated. Based on the estimated model. the IPSC ( Integral - Proportional Speed Controller) is designed. Then a DTRC (Dead-time Robust Controller) combining DTC ( Dead-time Compensator) & SRC (Simple Robust Controller) is designed to reduce the effects of parameter variation and external disturbance. Some simulated results are provided to demonstrate the effectiveness of the proposed controller.

• Journal of Industrial Technology
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• v.18
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• pp.233-240
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• 1998

In this study, ride sensitivity analysis of train with non-linear suspension elements is performed. Non-linear characteristics of springs and dampers for primary and secondary suspensions of a train is parameterized. Equation of motion of the train model is derived, and using the direct differentiation method, sensitivity equations are obtained. For a nominal ride quality performance index, sensitivity analysis with respect to various design parameters regarding non-linear suspension parameters is carried out.

• Proceedings of the Safety Management and Science Conference
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• 2003.05a
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• pp.1-5
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• 2003

We purpose a decision model to select the optimal facilities for the Decision Making problems with multiple characteristics(nominal-is-best characteristics, larger-is -better characteristics, smaller- is -better characteristics). Using this model, concept of the loss function is used in this comprehensive method of for select the optimal preferred facilities. To solve the issue on the optimal preferred facilities for multiple characteristics, this study propose the loss function with cross-product terms among the characteristics and derived range of the coefficients of the terms.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.2 s.140
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• pp.98-104
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• 2005

The mathematical models of hydrodynamic force and moment acting on a ship at low speed range should be established differently from the ones at nominal cruising speed range since a ship moves with large drift angle or rotates in a stationary position. We modified widely used Yoshimura's cross flow model in order to apply the system identification method to estimate parameters in the model. The apparatus and the procedure of free running model test were suggested so that the parameters in the model be estimated. The validity of our proposing modified model and test procedure was confirmed by comparison with the results of simulated model test.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.120-125
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• 2004

In the rolling of steel or non-steel metal the most important quality aspect are thickness and flatness. In thickness, there are two important factors. One of them is getting close with accurate goal, nominal gauge, the other is minimize gauge bandwidth, the variation in gauge. In this thesis, we proposed the fuzzy model AGC to minimize gauge variation along the length, developed the rolling mill dynamic model using the math mode of the rolling mill process and the rolling model related with the variety character of the rolling material. We compared the gauge control efficiency of fuzzy model AGC and PI mass flow AGC. We have got a simulation result, that the exit gauge variation of PI mass flow AGC was 2 micron and fuzzy model AGC was 1.2 micron at 1200mpm of rolling speed when each controller was rolling 5 micron of material that is the entry gauge variation.

• Bulletin of the Korean Chemical Society
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• v.10 no.6
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• pp.504-509
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• 1989

The effect of oxygen-deficiency on the charge distributions and orbital energies for small copper oxide clusters representing the superconducting materials $YBa_2Cu_3O_x (6{\leq}x{\leq}7)$ were investigated by the extended Huckel molecular orbital (EHMO) method with the tight-binding model. Our calculations show +3 oxidation state of Cu(1) in the $CuO_3$ chain and +2 or +1 of Cu(2) in the $CuO_2$ layers for $YBa_2Cu_3O_7$ with the nominal charge of $Cu_3$ = +7 (or +5), while for $YBa_2Cu_3O_6$ +1 oxidation state of Cu(1) and +3 (or +2) of Cu(2) in the $CuO_2$ layers with the nominal charge of $Cu_3$ = +7 (or +5). For $Cu_3O_{12}$ cluster representing $YBa_2Cu_3O_7$ with the nominal charge of $Cu_3$ = +7 the Cu(2) $d_{{x^2}-{y^2}}$ orbitals in the $CuO_2$ layers is a typical Jahn-Teller $d^9$ system with the partial hole and the Cu(1) $d_{{_z2}-{_y2}}$ orbital in the $CuO_3$ chain contains hole occupancy. For $Cu_3O_{10}$ cluster representing $YBa_2Cu_3O_6$ with the nominal charge of Cu = +5 the orbital character of the highest partially occupied MO (HPOMO) and the lowest completely unoccupied MO (LCUMO) of $Cu_3O_{12}$ representing $YBa_2Cu_3O_7$ with the nominal charge of $Cu_3$ = +7 is reversed, and the character of Cu(1) $d{{x^2}-{y^2}}$ orbital of LCUMO of the $Cu_3O_{12} $cluster is vanished. It is suggested that the local crystal field environment of Cu(1) by the oxygens in the Cu(1) chain may play a vital role in conductivity and superconductivity, either alone or through cooperative electronic coupling with the Cu(2) layers in $YBa_2Cu_3O_7.$.