• Journal of the Korean Society for Precision Engineering
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• v.28 no.5
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• pp.591-598
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• 2011

Tip position control of a flexible cantilever is difficult due to the non-minimum phase dynamics that result from the finite propagating speed of a mechanical wave along the cantilever. In this paper, we propose a method for the tip position control using a light and cheap accelerometer that does not bring any significant change to the dynamics of the cantilever system. The linear system identification model of the flexible cantilever is obtained with measurements by a laser displacement sensor. A Kalman estimator is designed with this model and calculates the estimated tip position with the acceleration data of the accelerometer that is attached on the tip of the cantilever. To verify reliability of the estimator, the estimated tip position is used to the feedback control system that uses a fuzzy logic controller. The control results are compared with those of the fuzzy control system where the real tip position is measured by a laser displacement sensor. Also, the performance of the estimator with the accelerometer is presented and discussed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.531-536
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• 2005

The purpose of this paper is to improve the hysteresis characteristics of a stack type piezoelectric actuator using system identification and tracking control. Recently, several printing methods that cost less and are faster than previous semiconductor processes have been developed for the production of electric paper and RFID. The system proposed in this study prints by spraying the molten metal, and consists of a nozzle, heating furnace, operating actuator, and an XYZ 3-axis stage, As an operating system, the piezoelectric(PZT) method has very valuable uses. However, the PZT actuator has a very big hysteresis characteristic due to the ferroelectric characteristics of the PZT element. This causes problems in the system position control characteristics and deteriorates the performance of the system. In this study, an investigation was conducted to improve the hysteresis characteristics of the PZT actuator that has an output displacement for the input voltage. The study proposed a inverse hysteresis model, a mathematic modeling method that can express the geometric relationship between voltage and displacement, in order to reduce the hysteresis of the PZT actuator. In addition, system identification and PID control methods were examined. Also, it was confirmed that the proposed control strategy gives good precision position control performance.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.395-401
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• 2004

We present an AILC(Adaptive Iterative Learning Control) scheme and a sufficient condition for system parameter identification for uncertain robotic systems that perform the same tasks repetitively. It is guaranteed that the joint velocity and position asymptotically converge to the reference joint velocity and position, respectively. In addition, it is proved that a sufficient condition for parameter identification is the PE(Persistent Excitation) condition on the regressor matrix evaluated at the reference trajectory during the operation period. Since the regressor matrix on the reference trajectory can be easily computed prior to the real robot operation, the proposed algorithm provides a useful method to verify whether the parameter error converges to zero or not.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.1100-1105
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• 2007

In the gas supply duct, the gas leakage caused by the impact of the construct equipment is serious problem. The identification of the impact position is an important issue and an engineering work. For the basic research of this problem, the principle studies for the acoustic wave propagation in a gas duct are proceeded in this paper. This principal work is based on the identification of the cut-off frequency associated with major modes of the gas duct theoretically and experimentally. The cut-off frequency is confirmed by STFT and cross-correlation function is used to identify the leakage position.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.8
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• pp.797-804
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• 2008

In the gas supply pipe, the gas leakage caused by the impact of the construct equipment is serious problem. The identification of the impact position is an important issue and an engineering work. For the basic research of this problem, the principle studies for the acoustic wave propagation in a gas pipe are proceeded in this paper. This principal work is based on the identification of the cut-off frequency associated with major modes of the gas pipe theoretically and experimentally The cut-off frequency is confirmed by STFT and cross-correlation function is used to identify the leakage position.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.102-109
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• 1997

A study to determine a proper sensor placement was developed to improve force identification. Improper selection of response position cause erroneous result in force identification problem. This paper presents two methods to improve the conditioning of the system's FRM(Frequency Response Matrix) which affects the accuracy of result. The basic strategy of the two methods in selecting the response position is to let the smallest singular value be as large as possible by maximizing the orthogonality of FRM. The suggested methods are tested numerically with a fixed-fixed beam model. The test results show that the proposed methods are very effective in dealing with the force identification problem.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1001-1002
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• 2007

This study investigates the dynamic characteristics of Synchronous Reluctance Motor (SynRM), with segmental rotor structure, using finite element method in which the moving mesh technique is considered. The focus of this paper is the efficiency of on-line parameter identification system for position sensorless control of a SynRM under saturation and iron loss. Comparisons are given with angle of the observer and those of proposed FEM & Preisach model of synchronous reluctance motor, respectively. The position sensorless control using identified motor parameters is realized, and the effective of the on-line parameter identification system is verified by experimental results.

• Journal of Power Electronics
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• v.14 no.3
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• pp.564-571
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• 2014

Rotor initial position is an important factor affecting the control performance of electrically excited synchronous motors. This study presents a novel method for estimating rotor initial position based on sliding discrete Fourier transform (sDFT). By injecting an ac excitation into the rotor winding, an induced voltage is generated in stator windings. Through this voltage, the stator flux can be obtained using a pure integral voltage model. Considering the influence from a dc bias and an integral initial value, we adopt the sDFT to extract the fundamental flux component. A quadrant identification model is designed to realize the accurate estimation of the rotor initial position. The sDFT and high-pass filter, DFT, are compared in detail, and the contrast between dc excitation and ac injection is determined. Simulation and experimental results verify that this type of novel method can eliminate the influence of dc bias and other adverse factors, as well as provide a basis for the control of motor drives.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1478-1482
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• 2005

Since it is a very issue that figures out a current position of mobile robots, various methods have been proposed until nowadays. This paper proposes the sensor model of RFID(Radio Frequency Identification) and position estimation algorithm for mobile robots. We designed the sensor model of RFID in experimenting repeatedly. The sensor model of RFID in this case is that of stochastics according to sensing rate. Based on this stochastic sensor model, we designed the algorithm which estimates distance and direction of RFID tag. Therefore we made sure that RFID tag is used as landmark.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1046-1048
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• 2003

Recently, various researches in respect of the positioning technologies using satellites and the other sensors have made location-based services (LBS) more common and accurate. Consequently, concern about position information has been increasing. However, since these positioning systems only focus on user's position, it is difficult to know the user's attitude or detailed behaviors at the specific position. It is worthy to study on how to acquire such human attitude or behavior, because those information is useful to know the context of the user. In this paper, the sensor unit consisting of three dimensional accelerometer was attached to human body, and autonomously measured the perpendicular acceleration of ordinary human behaviors including activity modes such as walking, running, and transportation mode using transportation such as a train, a bus, and an elevator. Subsequently, using the classified measurement results, the method to identify the human activity modes was proposed.