• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.1
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• pp.50-58
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• 2009

For precise tracking control of a servo system with nonlinear friction, a robust friction compensation scheme is presented in this paper. The nonlinear friction is difficult to identify the friction parameters exactly through experiments. Friction parameters can be also varied according to contact conditions such as the variation of temperature and lubrication. Thus, in order to overcome these problems and obtain the desired position tracking performance, a robust adaptive back-stepping control scheme with a dual friction observer is developed. In addition, to estimate lumped friction uncertainty due to modeling errors, a DEKF recurrent neural network and adaptive reconstructed error estimator are also developed. The feasibility of the proposed control scheme is verified through the experiment fur a ball-screw system.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.33 no.1
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• pp.1-9
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• 2010

Quality design methodologies have received constituent attention from a number of researchers and practitioners for more than twenty years. Specially, the quality design for drug products must be carefully considered because of the hazards involved in the pharmaceutical industry. Conventional pharmaceutical formulation design problems with mixture experiments have been typically studied under the assumption of an unconstrained experimental region with a single quality characteristic. However, real-world pharmaceutical industrial situations have many physical limitations. We are often faced with multiple quality characteristics with constrained experimental regions. ln order to address these issues, the main objective of this paper is to propose a robust desirability function (RDF) model using a desirability function (DF) and mean square error (MSE) to simultaneously consider a number of multiple quality characteristics. This paper then present L-pseudocomponents and U-pseudocomponents to handle physical constraints. Finally, a numerical example shows that the proposed RDF can efficiently be applied to a pharmaceutical process design.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.409-412
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• 1998

In this paper, we present an $H^2$ controller design of RTP(rapid thermal processing) systems satisfying robust stability and performance using weighted mixed sensitivity minimization. In industrial fields, RTP system is widely used for improving the oxidation and the annealing in semiconductor manufacturing process. The main control factors are temperature control of wafer and uniformity has been solved by PID control method. Because the reference inputs of RTP are ramp, we improve performance of RTP system by the design of $H^2controller$ using the weighted mixed sensitivity function. Also we compare $H^2controller$ with PID controller in terms of performance. An example is proposed to show the validity of proposed method.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.496-499
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• 2002

The LQG/LTR controller is a robust and stable control which is systematic method with a view of engineering. And the H$^{\infty}$ scheme is adopted for the design of the controller to reduce the effects of the disturbances. In this paper, LQG/LTR and H$^{\infty}$ Controller Design of Lateral Control System for an Automobile is developed with 3 DOF (degree-of-freedom) model. The performance has been compared for the employed two types of controllers via computed simulations. The results show that the H$^{\infty}$ controller provides more robustness property for the disturbances and lower control input.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.543-550
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• 2002

This work is concerned with the estimation of output derivatives and their use for the design of robust controller for linear systems with systems uncertainties due to modeling errors and disturbance. It is assumed that a nominal transfer function model and Quantitative bounds for system uncertainties are known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted trough restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Controller) Type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.608-613
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• 2002

In this paper we developed the MPC sensor for steering control and steering control of the AGVDS(Autonomous Guided Vehicle Driving System) for Durability test. Among durability tests, the accelerated durability test has been widely used to evaluate the durability of vehicle structure and chassis parts in a short period of time on the designed road that has severe surface conditions. However it increased the drivers fatigue mainly caused by the severe driving conditions. The driver's difficulty to maintain the constant speed and control the steering wheel reduces the reliability of test results. In addition to the general detecting sensor for steering control was restricted by surrounding condition. So we need to develop steering control sensor was robust in the bad driving condition. In this paper we developed steering control sensor using magnetic induction which is robust in the bad driving condition and implemented the AGVDS.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.241-246
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• 2004

This paper proposed trajectory tracking control of mobile robot. Trajectory tracking control scheme are real coding genetic-algorithm and back-propergation algorithm. Control scheme ability experience proposed simulation. Stable tracking control problem of mobile robots have been studied in recent years. These studios have guaranteed stability of controller, but the performance of transient state has not been guaranteed. In some situations, constant gain controller shows overshoots and oscillations. So we introduce better control scheme using Real coding Genetic Algorithm(RCGA) and neural network. Using RCGA, we can find proper gains in several situations and these gains are generalized by neural network. The generalization power of neural network will give proper gain in untrained situation. Performance of proposed controller will verify numerical simulations and the results show better performance than constant gain controller.

• Journal of Power System Engineering
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• v.10 no.3
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• pp.67-72
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• 2006

The effect of manufacturing parameters on wear and improve cooling of motorcycle break system was studied using a disk-on-pad type friction tester. Such parameters conditions have an effect on the wear and improve cooling factor such as applied load, sliding speed, frictional time and number of ventilated disk hole. However, it is difficult to know the mutual relation of these factor. In this study, the wear and cooling characteristics using design of experiment containing 4 elements were investigated for an optimal condition for the best motorcycle disk break system employing Taguchi robust experimental design. From this study, the result was shown that vents have an effect on convection area improving more cooling ability and reduced wear of the disk.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.4
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• pp.78-86
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• 2002

In this paper, LMI (Linear Matrix Inequality) based on H$\_$$\infty$/ controller for a lire of sight (LOS) stabilization system. It shows that the proposed controller has more excellent stabilization performance than that of the conventional PI-Lead controller. An H$\_$$\infty$/ control has been also applied to the system for reducing modeling errors and the settling time of the system. The LMI-based H$\_$$\infty$/ controller design is more practical in view of reducing a run-time than Riccati-based H$\_$$\infty$/ controller. This H$\_$$\infty$/ controller is available not only to decrease the gain in PI-Lead control, but also to compensate the identifications for the various uncertain parameters. Therefore, this paper, shows that the proposed LMI-based H$\_$$\infty$/ controller had good disturbance attenuation and reference input tracking performance compared with the control performance of the conventional controller under any real disturbances.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2007.06a
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• pp.109-112
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• 2007

In this paper we describe a robust method of improving precision in monitoring high energy ion implantation processes. Ion implant energy accuracy was measured in the device manufacturing process using an unpatterned implanted layer on an intrinsic p-type silicon wafer. To increase Rs sensitivity to energy at the well implant process, a PN junction structure was formed by P-well and deep N-well implants into the p-type Si wafer. It was observed that the depletion layer formed by the PN junction was very sensitive to energy variation of the well implant. Conclusively, it can be recommended to monitor well implant processes using the Rs measurement method described herein, i.e., a PN junction diode structure since it shows excellent Rs sensitivity to variation caused by energy difference at the well implant step.