• 한국정밀공학회지
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• 제18권12호
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• pp.66-72
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• 2001

In this paper, by using pseudo-inverse matrix of the spatial redundant flexible manipulators, a position control method and its effect in vibration suppression was presented. Vibration suppression control was developed using lumped mass spring model of the flexible manipulators. With 2 elastic links and 7 rotory joint manipulator ADAM, (1)position control for no redundancy, and (2)position control for one redundant DOF(degree of freedom) were tested. The objective of this experiment is to show the effect of position control, using pseudo-inverse matrix. toward the improvement of operation, and at the same time, to reduce the vibration of the link and the magnitude of the joint torque.

• Journal of Power Electronics
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• 제6권4호
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• pp.347-355
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• 2006

A new control method for precision robust position control of a permanent magnet synchronous motor (PMSM) is presented. In direct drive motor systems, a load torque disturbance directly affects the motor shaft. The application of the load torque observer is published in using a fixed gain to solve this problem. However, the motor flux linkage cannot be determined precisely for a load torque observer. Therefore, an asymptotically stable adaptive observer base on a deadbeat observer is considered to overcome the problems of unknown parameters, torque disturbance and a small chattering effect. To find the critical parameters the system stability analysis is carried out using the Liapunov stability theorem.

• 전력전자학회논문지
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• 제12권1호
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• pp.19-26
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• 2007

본 논문은 외란 변화에 대하여 정밀위치 변화를 줄이고자 외란 관측기를 사용하였고 이를 유도전동기에 적용하였다. 제안된 알고리즘이 외란 변화에 대한 유도전동기의 정밀 제어에 강인함을 보이고 있다. 외란 관측기가 있는 이 시스템은 높은 실효성과 외란 보상에 뛰어난 데드비트 컨트롤을 사용하고 있다. 이 효과를 보이기 위해서 모의 실험은 Simulink를 사용하였고 DSP6416 및 TCP-IP 네트워크 보드와 연동하여 실험하였다.

• 전력전자학회논문지
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• 제4권2호
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• pp.138-143
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• 1999

본 논문에서는 직접 구동용 브러쉬 없는 직류 전동기(BLDD)에 있어서 외란에 강인한 위치 제어를 하기 위한 새로운 제어 방법으로 적응 제어형 외란 관측기를 제시하였다. 정밀 위치 제어를 위해서 Field-orientation 방법을 통해 선형화 하였다. BLDC 전동기는 뒤틈(backlash)이 없는 반면에 높은 가격과 비선형 특성에 의한 복잡한 제어기가 필요하다는 단점이 있다. 또한 외부 외란은 전동기의 축에 직접 영향을 미치고 있다. 이 외란은 영향을 줄이기 위해서 Lyapunov 안정성 이론을 이용하였다. 이 이론을 바탕으로 제안된 시스템의 안정성을 증명하였으며, 관측기에서 취한 값을 순간적으로 등가 전류로 계산하여 정궤환(feedforward)하여 보상하였다.

• 한국정밀공학회지
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• 제14권3호
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• pp.98-106
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• 1997

In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed position synchronizing control system is constituted with speed and synchronizing controller. The speed controller is aimed at the following to speed reference. Furthermore, it is designed to guarantee low sensitivity under some disturbance as well as robustness against model uncertainties using $H_{\infty}$technique. The synchronizing controller is designed to keep minimizing the position error using PID control law which is considered to reduce the dimension of transfer function in the control system. Especially, the proposed method can be easily conducted by controlling only slave axis speed, because it, has variable structure which is decided to master and slave axis by the sign of synchronizing error. Therfore, the master axis which is smaller influenced than another axes by disturbance can be controlled without reducing or increasing its speed for precise position synchronization. The effectiveness of the proposed method is sucessfully confirmed through many experiments.s.

• 한국정밀공학회지
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• 제12권1호
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• pp.97-103
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• 1995

This paper describes position and force hybrid control for a robot manipulator with artificial rubber muscle actuators. The controller using two control laws such as PID control and fuzzy logic control methods is designed. This paper concludes to show the effectiveness of the proposed controller by some experiments for a two-link manipulator.

• 한국정밀공학회지
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• 제19권10호
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• pp.114-119
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• 2002

The aim of this paper is to clarify the structural compliance of the constrained flexible manipulator and to develop the force control algorithm by using the compliance of the links. The proposed structural compliance control consists of the position control to utilize a flexible manipulator model (considering the compensation for the elastic deflection of links) and the passive force control to utilize the rigid manipulator model (without considering the compensation for the elastic deflection of links). We present the experimental results for the case when applying the only position control, and when applying the structural compliance control. Finally, a comparison between these results is presented to show the performance of our method.

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

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.820-825
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• 1996

This paper is concerned with effective operating method of pneumatic on-off valves for improving position control accuracy, valve life-time and position settling time using modified pulse width modulation with dead-zone. The pneumatic system using on-off valves studied in this paper has advantage of simple construction and low cost compared with a system with servo-valves. The performance of proposed control system is investigated experimentally for the position control of a pneumatic cylinder using on-off valves. Experimental results show that the proposed algorithm for valve operation can be used to obtain fast and accurate position control and to prevent on-off valves from unnecessary switching.

• 한국정밀공학회지
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• 제11권5호
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• pp.143-152
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• 1994

The velocity trajectory profile of trolley is designed to minimize both swinging while transportation of load and the stop position error at the final stop position. This profile is designed to be automatically programmed by the digital control algorithm when the length of chain and the desired travel distance are given as a priori. Also, to minimize both swinging and the stop position error the anti-swing controller which improves poor damping characteristics of the crane and the stop position controller are employed. The experimentalresults of sequential adaptation of the velocity trajectory profile and these two controllers show that this control scheme has excellent control performance as compared with that of the uncontrolled crane system.