• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 춘계학술대회 논문집
• /
• pp.112-117
• /
• 1997

This paper presents a GA(Genetic Algorithms)-Optical control strategy for the control of the swing motion and the transverse position of the overhead crane. The overhead crane system is defined uncertain due to unknown system parameters such as payload and trolly mass. To control the overhead crane. the GA-Optimal control scheme is suggested. which transfers a trolly to a desired place as fast as possible and minimizes the swing of the payload during the transfer. The genetic algorithms are applied to fine digital optimal feedback gains. A computer simulation demonstrate the performance of the proposed the GA-digital optimal controller for the overhead crane.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.459-462
• /
• 2003

This paper presents a force model of the clean tube system, which was developed as a means for transferring the air-floated wafers inside the closed tube filled with the super clean air. The recovering force from the holes for floating wafers is modeled as a linear spring and thus the wafer motion is modeled as a mass-spring-damper system. The propelling forces are modeled as linear along with the wafer location. The paper also proposes the control method to emit and stop a wafer at the center of a control unit. It shows the minimum value of the propelling force to leave from the control unit. In order to stop the wafer, it utilizes the exact time when a wafer arrives at the position to activate the propelling force. Experiments with the clean tube system built for 12 inch wafer shows the validity of the proposed model and the algorithm.

• 한국정밀공학회지
• /
• 제6권2호
• /
• pp.65-76
• /
• 1989

The objective of this paper is to design the variable structure system(VSS) controller for the tracking control of excavator which is driven by electro-hydraulic servomechansim. It is generally agreed that the dynamic characteristics of the robot arm such as excavator are coupled, time varying, and highly nonlinear, and also hydraulic system contains nonlinear characteristics in itself, so performing exact position control and trajectory tracking control need remarkable consideration. To solve this porblem, this system was designed as a variable structure system. The salient feature of VSS is that the sliding mode occur on a switching surface. While in sliding mode, the system remains insensitive to parameter variations and disturbances. This control algorithm was applied to a hydraulic excavator by simulaltion and to a simulator by experiment. And its effectiveness was verified. And the results of VSS for the electro-hydraulic excavator was compared with that of the PID when load disturbances and system parameter variations exist.

• 한국정밀공학회지
• /
• 제20권6호
• /
• pp.62-70
• /
• 2003

This paper deals with a approximation and tracking control of hydraulic servo system using a real time recurrent neural networks (RTRN) with 2-dimensional iterative learning rule. And it was driven that 2-dimensional iterative learning rule in discrete time. In order to control the trajectory of position, two RTRN with same network architecture were used. Simulation results show that two RTRN using 2-D learning algorithm is able to approximate the plant output and desired trajectory to a very high degree of a accuracy respectively and the control algorithm using two same RTRN was very effective to control trajectory tracking of electro-hydraulic servo system.

• 한국정밀공학회지
• /
• 제6권4호
• /
• pp.108-118
• /
• 1989

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonliearity and parameter uncertainty in robot dynamics model. In this paper, an adaptive control scheme for a robot manipulator is proposed to design robust controller using model reference adaptive control technique and hyperstability theory but it does away with] assumption that the process is characterized by a linear model remaining time invariant during the adaptation process. The performance of controller is demonstrated by the simulation about position and speed control of a six-link manipulator with disturbance and payload variation.

• 한국안전학회지
• /
• 제10권4호
• /
• pp.22-35
• /
• 1995

In this paper, an electronic control unit is developed using 16bit microcomputer for automobile engine. This system incorporate AFS(Air Flow Sensor) of Hot Wire type, DIS(Direct Ignition System), ISC(Idle Speed Control) system, CAS(Cranke Angle Sensor) and other peripheral device. This system includes hardware and software to facilitate precision control of both fuel injection and ignition timing. Especially, this controller consists of position signal(180 teeth) and 4 REF signals. Present system has maximum $720^{\circ}CA$ delay. But this system has maximum $180^{\circ}CA$. Thus, this system is able to precision control both fuel injection and ignition timing.

• 한국정밀공학회지
• /
• 제16권3호통권96호
• /
• pp.128-135
• /
• 1999

A driving simulators of aircraft and vehicle may consist of hydraulic power systems with many single-rod cylinders. The single-rod hydraulic systems are convenient but need more robust control scheme in order to achieve a reliable performance against the wide range of operating disturbances and the inherent model uncertainties. $H_{\infty}$ control scheme was implemented to the 2 degree-of-freedom hydraulic device similar to the simple driving simulator. With the reasonable disturbances from sensor, base and pump and also with the linearization of model, the simulation and experimental results showed good agreements.

• 한국기계가공학회지
• /
• 제21권7호
• /
• pp.43-52
• /
• 2022

Design of a controller for a high-precision servo control system has been a popular topic while finding optimal parameters for multiple controllers is still a challenging subject. In this paper, we propose a practical scheme to optimize multi-parameters for the robust servo controller design by introducing a new cost function and optimization scheme. The proposed design method provides a simple and practical tool for the systematic servo design to reduce the control error with guaranteeing robust stability of the overall system. The reduction of the position error by 24% along with a faster convergence rate is demonstrated using a typical hard disk drive servo controller with 41 parameters.

• 한국정밀공학회지
• /
• 제10권2호
• /
• pp.170-177
• /
• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• 한국정밀공학회지
• /
• 제14권7호
• /
• pp.73-81
• /
• 1997

An new class of robust position/force hybrid control law is proposed for uncertain robot manipulators. The uncertainty is nonlinear and (plssibly fast) time-varying. Therefore, the uncertain factors such as imper- fect modeling, friction, payload change, and external disturbance are all addressed. Based on the possible bound of the uncertainty, the controller is constructed and the stability study based on Lyapunov function is presented. To show that the proposed control laws are indeed applicable, the theoretical result is applied to a SCARA-type robot manipulator and simulation result is presented.