• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.980-983
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• 1996

This paper presents the method of determining state feedback gains of XPTOS for disk drive servomechanism based BESSEL filter prototype. A typical disk drive actuator can be modeled as second order dynamics for low frequencies. However, the response at higher frequencies shows resonant behavior which cannot be easily modeled. XPTOS consists of the nonlinear control region and the linear control region. In the linear control region, the poles of a second order nominal model of plant must be properly relocated by pole placement technique to attenuate resonant modes at high frequency and to attain minimum time state transition. It is difficult to select position to satisfy this object because velocity feedback gain is subjected to position feedback gain in XPTOS. Here poles of BESSEL filter prototype are selected to determine state feedback gains of XPTOS. Simulation results for disk drive servomechanism using XPTOS having state feedback gains by the proposed method are presented.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2009년도 추계학술대회 논문집
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• pp.415-420
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• 2009

This paper presents a position tracking control of a flexible beam using the piezoelectric actuator. This is achieved by implementing both feedforward hysteretic compensator of the actuator and PID feedback controller. The Preisach model is adopted to develop the feedforward hysteretic compensator. In the design of the compensator, estimated displacement of the piezoceramic actuator is used on the basis of the limiting triangle database that results from collecting data of the main reversal curve and the first order ascending curves. Experimental implementation is conducted for position tracking control and performance comparison is made between a PID feedback controller without considering the effect of hysteresis, and a PID feedback controller integrated with the feedforward hysteretic compensator.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.38-42
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• 2002

Conditions are discussed for operating a dissymmetric human master-small (or micro) slave system in best (large position gain-small velocity gain) conditions allowing higher operator dexterity when real effects (joint compliance, link flexion delay and transmission distortion) are taken into account. It is shown that position PD feedback law advantage for ideal case no longer holds, and that more complicated feedback law depending on real effects has to be implemented with adapted transmission line. Drawback is slowdown of master slave interaction, suggesting to use more advanced predictive methods for the master and more intelligent control law for the slave.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.332-337
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• 1988

A digital series-feedback compensator algorithm for tracking time-varying signal is presented. The series-feedback compensator is composed of one closed loop pole / zero cancellation compensator and one desired-input generator. This algorithm is applied to nonlinear hydraulic position control system. The hydraulic servo system is modelled as a second order linear model and cancellation compensator is modelled from it. The desired input generator is inserted to reduce modelling error. Digital computer simulation output using this control method is present and the usefulness of this control algorithm for nonlinear hydraulic system is verified.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.739-740
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• 2010

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1858-1862
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• 2005

Stepping motor normally operates without feedback and may loss the synchronization. This problem can be prevented by using positional feedback. This paper introduces one method for closed loop control of stepping motor and a method for combining full-step control and micro-step control. This combination controlling apparatus can perform position control with high accuracy in a high speed, so that it will not suffer from vibration (or hunting) problem when stopping motor. Controlling apparatus contains a position counter block for detecting rotor position of stepping motor, a driving block for supplying current to windings of stepping motor, a control block for comparing output signal of position counter block with command position (desired position) and outputting current command signal based on deviation between current position and command position of rotor. To output current command signal, the control block refers to a sine wave data table. This table contains value of duty cycle of Pulse Width Modulation signal. As the second object of this paper, the process of building this data table is also presented.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.457-462
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• 2006

This paper is concerned with the active vibration control experiment on cylindrical shell equipped with Macro Fiber Composite(MFC) actuators. The MFC actuators were glued to the cylindrical shell in circumferential directions. To verify the theoretical result, vibration test using impact hammer and accelerometer was carried out. It was found from experiments that theoretical result predicts experimental result to some extent. The positive position feedback controllers were designed and applied to the test article. It was observed that the resonant amplitude of the fundamental mode was reduced by 20dB thus achieving active vibration control. The active vibration control of the response subject to non resonant excitation has been of interest. We developed the combination of the positive position feedback controller which can cope with the fundamental mode and the positive position feedback controller which can counteract the external disturbance with non resonant frequency. It was found from experiments that the hybrid controller can suppress the vibration amplitude successfully.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.276-281
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• 1989

Comparison 3-port servo system with 4-port is made to obtain optimal design for heavy and unidirectional hydraulic system, It is concluded that 3-port servo system it more adequate than 4-port for the heavy load system which is usually operated at lower frequencies. High performance electro-hydraulic position controller is designed using 3-port servo valve. It includes dynamic pressure feedback as a inner loop and position feedback as a outer loop.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.24-29
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• 1990

In this paper ,ie propose a hybrid position/force controller of a robot manipulator using double-layer neural network. Each layer is constructed from inverse dynamics and Jacobian transpose matrix, respectively. The weighting value of each neuron is trained by using a feedback force as an error signal. If the neural networks are sufficiently trained it does not require the feedback-loop with error signals. The effectiveness of the proposed hybrid position/force controller is demonstrated by computer simulation using a PUMA 560 manipulator.

• 소음진동
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• 제10권6호
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• pp.1083-1093
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• 2000

이 논문은 지능구조물의 실시간 적응진동제어를 위해 유전자 알고리즘을 이용하여 Positive Position Feedback(PPF) 제어기를 조정하는 것과 관련이 있다. 유전자 알고리즘은 최적변수를 찾는데 있어 국소 최소점이 아닌 전체적인 최적점을 찾을 수 있는 능력이 있다. PPF 제어기는 다른 진동모드에 영향을 주지 않으면서 특정 진동모드의 감쇠를 증가시킬 수 있는 장점을 가지고 있는 반면에 효과적인 진동제어를 위해서는 제어하고 자하는 진동모드의 고유진동수를 정확히 알아야하는 단점이 있다. 본 연구에서는 유전자 알고리즘을 이용하여 실시간으로 PPF 제어기가 필요로 하는 변수값을 추적할 수 있는 알고리즘을 개발하여 그 타당성을 실험으로 증명하였다. 실험결과는 PPF 제어기의 실시간 조정이 성공적으로 이루어져 진동제어가 효과적으로 이루어졌음을 보여주고 있다.