• Title/Summary/Keyword: Precision Position Control

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생산공장용 무궤도 무인운반차 개발

  • 한석균;김용일;강무진
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2001.10a
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    • pp.286-290
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    • 2001
  • This paper presents a full-digital low-level controller for a robotic material transfer system which has been developed for a computer-integrated manufacturing model plant. Compared to conventional analog or hybrid type controllers in current industrial environments, this controller system has some advantages such as strong noise-immunity, easy control algorithm implementation, etc The servo-controller consists of two modules, a position controller and a DC servo motor driver. The position controller operates position feedback routines by receiving position encoder data and sending control outputs to the driver. The position controller is implemented in a full-digital way using a recently introduced microcontroller. The DC servomotor driver controls speeds and torques. The driver consists of a micro-controller and insulated-gate-bipolar-transistors (IGBT). The micro-controller provides control signals, and the IGBT's amplifies the control signals and sends them to the motor.

High Precision Solenoid Type Nuclear Reactor Control Rod Position Indicator (고정밀도 솔레노이드 방식의 원자로 제어봉 위치지시기)

  • Baek, Min-Ho;Hong, Hoon-Bin;Park, Hee-June
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.65 no.11
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    • pp.1848-1853
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    • 2016
  • Control Rod Position Indicator in nuclear reactor vessel has developed for small reactor in Korea. Because of severe environment in reactor vessel, target of this study is to develop the suitable position indicator. In this study, solenoid type position indicator made of Mineral Insulated Cable(MI Cable) was introduced to adapt in severe environment. And inductance of the solenoid was used to indicate the rod position for high precision. But problem of this concept is that a linear slope of inductance is changed by temperature effect. To resolve this problem, two sensing coils were introduced for temperature compensation. A role of the sensing coil is to make reference linear equation about certain temperature. To confirm this concept, also, inductance of solenoid and sensing coils were measured at room and high temperature (${\sim}300^{\circ}C$). The results of measurement show that the position error of sensing coil between room and high temperature was about 2%. But it was identified that this error was resulted from insufficient test environment (temperature error between solenoid and sensing coils was about 2% at high temperature condition). Therefore, solenoid type position indicator shows that it is very suitable in reactor vessel as a high precision rod position indicator.

Precision Position Control of Induction Motors Using Disturbance Observer (외란관측기를 이용한 유도전동기의 정밀 위치 제어)

  • Kim, Hyun-Sik;Kang, Kyoung-Woo;Ko, Jong-Sun
    • The Transactions of the Korean Institute of Power Electronics
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    • v.11 no.1
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    • pp.38-45
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    • 2006
  • This paper presents load torque observer that is used to deadbeat control method in the induction motor(IM) precision position control system. The proposed algorithm shows robustness on induction servo motor system. All of the gain has been obtained on discrete domain analysis. The simulation has been obtained by the simulink. The results show that proposed system has good effectiveness for the disturbance of the induction servo motor system using DS1102 board.

Precision Position Control for PCB Screen Printer Using Image Processing (화상처리를 이용한 PCB 스크린 인쇄기의 정밀위치제어)

  • 이근유;부이트롱휴;김동규;박순실;김상봉
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.295-295
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    • 2000
  • In this paper, the measurement algorithm of PCB alignment error is developed using image processing. The X-Y-$\theta$ table correcting PCB alignment error is driven by drive module based on microprocessor according to calculation results obtained through image processing procedure. In order to recognize the X-Y-$\theta$ position errors, two fiducial points are marked on PCB and two cameras of ultraviolet rays types are used for detection of the points to capture exactly fiducial points under disturbance of illumination change. Through application for a practical screen printer, the precision control using the developed position control system can be realized about 2.5${\mu}{\textrm}{m}$ in table moving range and 8${\mu}{\textrm}{m}$ in camera processing precision.

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Development of Absolute Position Detecting Cylinder and Evaluation under the Load Disturbance (절대위치 검출형 실린더 개발 및 외란 부하에 대한 성능평가)

  • 김성현;박민규;홍영호;이민철;이만형
    • Journal of the Korean Society for Precision Engineering
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    • v.20 no.4
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    • pp.68-75
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    • 2003
  • This paper introduces the development of hydraulic cylinder with magnetic sensors detecting absolute and precise position for automation of excavator. The system which is developed can detect absolute position with a little displacement by using algorithm for recognizing datum points, 114 divider algorithm and high precision algorithm improved position precision. We alse evaluate the developed system under the load disturbance and add band pass filter to the previous's signal process circuit for the protecting magnetic sensors's saturation.

Position Tracking Control on the XY Ball-screw Drive System with the Nonlinear Dynamic Friction (비선형 동적마찰을 갖는 XY볼-스크류 구동계에 대한 위치 추종제어)

  • Han, Seong-Ik
    • Journal of the Korean Society for Precision Engineering
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    • v.19 no.6
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    • pp.51-61
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    • 2002
  • A tracking control scheme on the XY ball-screw drive system in the presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the Lund-Grenoble friction model to compensate effects of friction. The conventional VSC method that often has been used as a non-model-based friction controller has poor tracking performance in high-precision position tracking application since it cannot compensate the friction effect below a certain precision level completely. Thus to improve the precise position tracking performance, we propose the integral type VSC method combined with the friction-model-based observer. Then this control scheme has the high precise tracking performance compared with the non-model-baked VSC method and the PID control method with a similar observer. This fact is shown through the experiment on the XY ball-screw drive system with the nonlinear dynamic friction.

Precision position control of piezoelectric actuator (압전액추에이터 정밀 위치 제어)

  • Yun S.;Kim C.Y.;Ham Y.B.;Jo J.;Ahn B.K.
    • 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.

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Cooperative Control of Two Spatial Flexible Manipulators -Verification by Experiments- (3차원 양팔 유연 매니퓨레이터의 협조제어 (실험에 의한 검증))

  • Kim, Jin-Soo
    • Journal of the Korean Society for Precision Engineering
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    • v.17 no.9
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    • pp.87-94
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    • 2000
  • In this paper we discuss the control scheme on cooperative control of two flexible manipulators working in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from the scheme for two cooperating rigid manipulators to that for flexible ones. in addition to the control vibration suppression control based upon a lumped-mass-spring model of the flexible manipulators is applied. To illustrate the validity of the proposed control scheme we show experimental results. in the experiment a rigid object is handled by two cooperating flexible manipulators in 3D space.

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Detection of Absolute Position for Magneto-Optical Encoder Using Linear Table Compensation (선형 테이블 보상법을 이용한 마그네틱-옵티컬 엔코더의 절대 위치 검출에 관한 연구)

  • Kim, Seul Ki;Kim, Hyeong Jun;Lee, Suk;Park, Sung Hyun;Lee, Kyung Chang
    • Journal of the Korean Society for Precision Engineering
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    • v.33 no.12
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    • pp.1007-1013
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    • 2016
  • This paper presents the development of a magneto-optical encoder for higher precision and smaller size. In general, optical encoders can have very high precision based on the position information of the slate, while their sizes tend to be larger due to the presence of complex and large components, such as an optical module. In contrast, magnetic encoders have exactly the opposite characteristics, i.e., small size and low precision. In order to achieve encoder features encompassing the advantages of both optical and magnetic encoders, i.e., high precision and small size, we designed a magneto-optical encoder and developed a method to detect absolute position, by compensating for the error of the hall sensor using the linear table compensation method. The performance of the magneto-optical encoder was evaluated through an experimental testbed.

A Study on the Position Control of Electrohydraulic Servo System Using Adaptive Sliding Mode Control (Adaptive Sliding Mode Control을 이용한 전기유압식 서어보시스템의 위치제어에 관한 연구)

  • Hyun, Jang-Hwan;Lee, Chug-Oh
    • Journal of the Korean Society for Precision Engineering
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    • v.11 no.6
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    • pp.143-157
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    • 1994
  • This paper is concerned with the position control of electrohydraulic servo system under parameter variation. An adaptive sliding mode control which uses the direct parameter estimation scheme, is proposed to design a robust controller for fast and accurate control of the system. It is shown that the adaptive sliding mode control algorithm is robust and effective in attaining fast and accurate position control of system under time-dependent parameter variation. It is also shown experimentally that chattering phenomena in a sliding mode control can significantly be reduced by using boundary layer technique, and that new approach in sliding mode control introducing a term proportional to the distance between the current state and the sliding surface in the control law is effective to obtain fast response and to increase stability of the system. Computer simulation on the dynamic performance of the control system is also presented.

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