• 제목/요약/키워드: Proportional-differential control

검색결과 56건 처리시간 0.035초

A Development of Recoil & Counter Recoil Motion Measurement System Using LVDT

  • Park, Ju-Ho;Hong, Sung-Soo;Joon Lyou
    • Transactions on Control, Automation and Systems Engineering
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    • 제2권3호
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    • pp.214-219
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    • 2000
  • This paper presents a recoil and counter recoil motion measurement system using linear variable differential transformers (LVDT). The output of the LVDT is obtained from the differential voltage of the secondary transformers. Since a transducer core is attached to the motion body, the output is directly proportional to the movement length of the core. Displacement, velocity and acceleration are measured from the LVDT. With a comparison between the measurement result and the reference value obtained by the highly accurate Vernier calipers, it is proved that the measurement system with the LVDT is applicable to the test of the moving part of the mechanism with better accuracy.

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선형변이 차동변압기를 이용한 왕복운동 계측기법 (An Aalternating Motion Measurement Technique Using Linear Variables Differential Transformers)

  • 최주호;유준
    • 제어로봇시스템학회논문지
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    • 제3권5호
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    • pp.455-460
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    • 1997
  • This paper presents a recoil and counter recoil motion measurement method using linear variable differential transformers(LVDT). The output of a LVDT is obtained from the differential voltage of the 2nd transformers. As the sensor core is attached to the motion body, the output is directly proportional to the core motion. Displacement, velocity and acceleration are measured from the core length. A comparison between the measurement result and the known value, which is obtained by the precision steel tape, shows that the accuracy and the usefulness of the proposed scheme is validated.

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Korean Wide Area Differential Global Positioning System Development Status and Preliminary Test Results

  • Yun, Ho;Kee, Chang-Don;Kim, Do-Yoon
    • International Journal of Aeronautical and Space Sciences
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    • 제12권3호
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    • pp.274-282
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    • 2011
  • This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

시차 굴절률 측정에 의한 실시간 글루코오스 모니터링 (Real-time Monitoring of Glucose Using a Differential Refractive Index Detector)

  • 정진갑;이명희;최은경
    • 한국염색가공학회지
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    • 제16권2호
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    • pp.47-51
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    • 2004
  • A differential refractive index detector was used for monitoring glucose contents in textile processing solutions. The sensitivity of the device was high enough to measure 0.05% aqueous glucose solution that could not be measured by normal refractive index measurement. The device was set to monitor glucose concentration continuously in real time by measuring differential refractive index and calibrated by standard glucose solutions in a range of 0.1 to 1.0%. The possibility of industrial application of the device was demonstrated by real-time monitoring of glucose concentration in textile processing solutions such as desizing bath and cellulase treatment bath. Both of solutions contained glucose as a major degraded product. The device would be able to control the weight loss of cellulosic fiber during cellulase treatment since the amount of degraded products in a processing bath is proportional to its weight loss.

박판 맞대기 용접에서 전자기식 센서를 이용한 용접선 자동 추적 시스템에 관한 연구 (A Study on Automatic Seam Tracking System Using Electro-Magnetic Sensor for Sheet Metal Arc Welding of Butt Joints)

  • 유병희;김재웅
    • Journal of Welding and Joining
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    • 제15권1호
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    • pp.81-91
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    • 1997
  • In this study, a magnetic sensor to make use of eddy current was developed to detect the weld seam of butt joint in the sheet metal arc welding. This system consist of the sensor device for detecting the weld line, the servo control device for driving the weld torch movement and the control unit. A signal processing was applied to smooth the output signal of the sensor. The weld joint was determined by using a 1st order differential method. To improve tracking accuracy of the system, moving average method which has an effect of proportional and weighted integral control was applied to a series of the weld joint positions obtained above. The weld line for tracking was generated by using data regeneration algorithm. Based on these results, each servo motor was controlled by pulse generator. From experimental results, it was revealed that this system has excellent detecting ability for weld line and seam tracking ability.

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차별적이니 드랍-확률을 갖는 동적-VQSDDP를 이용한 상대적 손실차별화의 달성 (Achieving Relative Loss Differentiation using D-VQSDDP with Differential Drop Probability)

  • 조경래;구자환;정진욱
    • 한국정보처리학회:학술대회논문집
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    • 한국정보처리학회 2008년도 추계학술발표대회
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    • pp.1332-1335
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    • 2008
  • In order to various service types of real time and non-real time traffic with varying requirements are transmitted over the IEEE 802.16 standard is expected to provide quality of service(QoS) researchers have explored to provide a queue management scheme with differentiated loss guarantees for the future Internet. The sides of a packet drop rate, an each class to differential drop probability on achieving a low delay and high traffic intensity. Improved a queue management scheme to be enhanced to offer a drop probability is desired necessarily. This paper considers multiple random early detection with differential drop probability which is a slightly modified version of the Multiple-RED(Random Early Detection) model, to get the performance of the best suited, we analyzes its main control parameters (maxth, minth, maxp) for achieving the proportional loss differentiation (PLD) model, and gives their setting guidance from the analytic approach. we propose Dynamic-multiple queue management scheme based on differential drop probability, called Dynamic-VQSDDP(Variable Queue State Differential Drop Probability)T, is proposed to overcome M-RED's shortcoming as well as supports static maxp parameter setting values for relative and each class proportional loss differentiation. M-RED is static according to the situation of the network traffic, Network environment is very dynamic situation. Therefore maxp parameter values needs to modify too to the constantly and dynamic. The verification of the guidance is shown with figuring out loss probability using a proposed algorithm under dynamic offered load and is also selection problem of optimal values of parameters for high traffic intensity and show that Dynamic-VQSDDP has the better performance in terms of packet drop rate. We also demonstrated using an ns-2 network simulation.

동적지연을 포함하는 편향 비례항법 유도루프의 해석 해를 이용한 정밀 충돌각 제어 (Precise Impact Angle Control Using Analytic Solution of Biased Proportional Navigation with Single Dynamic Lag)

  • 문한빛;나원상;황익호;김용정
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2011년도 제42회 하계학술대회
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    • pp.1736-1737
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    • 2011
  • This paper deals with the problem of precise impact angle control of an actual homing missile guided by biased proportional navigation (BPN). To do this, the BPN guidance loop including dynamic lag is modeled as the confluent hyper-geometric differential equation and its analytic solution is derived. Based on the solution, a systematic way to determine the bias constant is newly devised. Different from the existing BPN solution obtained by ignoring the dynamic lag, the proposed one can exactly describe the behavior missile before target interception. hence it is drastically improved the angle constrained terminal guidance performance.

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회전형 초음파모터의 소형 위상차 제어기 개발 (Development of Compact Phase-difference Controller for an Ultrasonic Rotary Motor)

  • 이동창;이명훈;이의학;이선표
    • 한국정밀공학회지
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    • 제23권8호
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    • pp.64-71
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    • 2006
  • In this paper, a uniform speed controller for an ultrasonic rotary motor is developed using the phase-difference method. The phase difference method uses traveling waves to drive the ultrasonic motor. The traveling waves are obtained by adding two standing waves that have a different phase to each other. A compact phase-difference driver system is designed and integrated by combining VCO(Voltage Controlled Oscillator) and phase shifter. Theoretically the relationship between the phase difference in time and the rotational speed of the ultrasonic motor is sine function, which is verified by experiments. Then a series of experiments under various loading conditions are conducted to characterize the motor's performance that is the relationship between the speed and torque. Proportional-integral control is adopted for the uniform speed control. The proportional control unit calculates the compensating phase-difference using the rotating speed which is measured by an encoder and fed back. Integral control is used to eliminate steady-state errors. Differential control for reducing overshoot is not used since the response of ultrasonic motor is prompt due to its low inertia and friction-driving characteristics. The developed controller demonstrates reasonable performance overcoming disturbing torque and the changes in material properties due to continuous usage.

선형변이 차동변압기를 이용한 왕복운동 계측기법 (An alternating motion technique using linear variable differential transformers)

  • 최주호;김윤겸;유준
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.1380-1383
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    • 1996
  • This paper presents a recoil and counter recoil(R&CR) motion measurement method using linear variable differential transformers(LVDT). The output of a LVDT is obtained from the differential voltage of the 2nd transformers. As a sensor core is attached at the motion body, the output is directly proportional to the core motion. Displacement, velocity and acceleration are measure from the core length. With a comparison between the measurement result and the known value which is obtained by the precision steel tape, the accuracy and the usefulness of the proposed scheme is validated.

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공학교육 이수체계에서 대학 졸업 작품용 이중 Li-Po 전원 사용 태양전지 충전 쿼드콥터 구성에 관한 연구 (A Study on Quadcopter Consisting of Dual Li-Po Battery Charging by Solar Cell in the Engineering Education Completed a Senier Project Work at the University)

  • 윤성근;김경빈;장은영
    • 실천공학교육논문지
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    • 제8권1호
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    • pp.9-14
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    • 2016
  • 졸업 조건 인증을 위한 졸업 작품 및 졸업 논문 제출 규정에 따라 설계/제작한 절차를 제시하고, 개선사항을 이론적으로 제안한다. 설계 내용은 태양 에너지로 충전시키는 Li-Po 배터리로 동작하는 쿼드콥터의 자세를 확인하고, PID(Proportional Integral Differential) 제어를 통하여 균형을 유지한 결과이다. 특히 2개의 Li-Po 배터리들을 탑재하고 태양 에너지를 이용하여 하나의 배터리를 충전시키는 동안에 다른 배터리로 구동하며, 배터리 전환 회로는 2종류의 릴레이들을 사용하여 배터리 전환 회로를 구성한다. 완전 충전되지 않았더라도 특정 전압으로 충전된 배터리를 구동중인 배터리와 수시로 절환시켜, 체공시간과 항속거리를 증가시키는 방법을 제안한다.