• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.3
• /
• pp.275-284
• /
• 2012

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.7
• /
• pp.114-122
• /
• 1995

A digital preview controller is designed for tandem cold mills to achieve a more improvement of the thickness accuracy. Simultaneously a blocked noninteracting controller is synthesized for rejecting the interactive effects among adjacent stands and for controlling independently each roll stand of tandem cold mills. The performance effects and characteristics of the suggested roll contol system are discussed in the practical viewpoint. The simulaltion results show that the thickness accuracy of tandem cold mills can be largely improved by the blocked noninteracting and digital preview controller.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.6
• /
• pp.81-89
• /
• 2009

Dancer systems are typical equipment for attenuation of tension disturbances. Lately, demands for high speed roll-to-roll machines are rising but it is prior to attenuate the tension variation on the web entering into the printing zone to achieve the speed increment. Maintaining a constant tension before the first printing cylinder is the key of high speed, high quality printing. Dancer has been researched in two ways, whether it is controlled or not. The first one is active dancer and the other one is passive dancer. In the active dancer, a position of idle roll of dancer is measured and the roll is moved by external hydraulic cylinder to control tension disturbances. While the passive one composed with spring, damper and idle roll has no external actuator to position the idle roll. The tension disturbance causes movement of dancer roll and the displacement of the roll regulates the tension variation. On the other hand a composite type of dancer is applied for roll-to-roll printing machines. It has same apparatus as passive dancer. The displacement of roll is measured and front(or rear) driven roller is controlled to position the roll. In this paper, it is presented an analysis of pendulum dancer including position feedback PI control and logic for PI gain tuning in roll-to-roll machines. Pole-zero map and root locus with varying system parameters gives a design method for control of the dancer.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.26 no.11
• /
• pp.97-103
• /
• 2012

The basic processing unit for instant ramen noodles includes mixing, rolling, boiling, frying, cooling, and packing processes. For uniform thickness of dough sheets in rolling process, the roll-gap in rolling process needs to keep uniform thickness of flour sheets in spite of different kinds of raw materials. In this paper, we have developed a roll gap adjustment system using a PLC (Programmable Logic Controller) with a touch panel and an AC servo-mechanism to make dough sheets with a good gluten starch-network structure and uniform thickness and to contribute to process standardization by transferring from tacit knowledge of skilled workers to explicit knowledge. The developed system can adjust the roll gap in units of 0.01mm and correspond to various product items which have different thickness specification by recalling the presetting values of the desired thickness from database.

• Journal of the Society of Naval Architects of Korea
• /
• v.49 no.1
• /
• pp.14-25
• /
• 2012

Recently, the application and installation of the pod propeller to the cruise ship is dramatically increased. It is because pod propulsion system allows a lot of flexibility in design of the internal arrangement of a ship. To reflect this trend, many researches have conducted to use the pod propeller for the roll stabilization of a ship. In the paper, a roll stabilization controller is designed by using fins and pod propellers as the control actuators for cruise ships. Two kinds of control algorithms are adopted for the roll control system; LQR (Linear Quadratic Regulator) algorithm and frequency-weighted LQR algorithm. Through the numerical simulation, the effect of the turning rate of the pod propeller on the roll control system is analyzed. Analysis of the simulation results indicated that the turning rate of the pod propellers is one of the important parameters which give the significant effects on the roll stabilization.

• International Journal of Aeronautical and Space Sciences
• /
• v.14 no.3
• /
• pp.247-255
• /
• 2013

The flight control of re-entry vehicles poses a challenge to conventional gain-scheduled flight controllers due to the widely spread aerodynamic coefficients. In addition, a wide range of uncertainties in disturbances must be accommodated by the control system. This paper presents the design of a roll channel controller for a non-axisymmetric reentry vehicle model using the trajectory linearization control (TLC) method. The dynamic equations of a moving mass system and roll control model are established using the Lagrange method. Nonlinear tracking and decoupling control by trajectory linearization can be viewed as the ideal gain-scheduling controller designed at every point along the flight trajectory. It provides robust stability and performance at all stages of the flight without adjusting controller gains. It is this "plug-and-play" feature that is highly preferred for developing, testing and routine operating of the re-entry vehicles. Although the controller is designed only for nominal aerodynamic coefficients, excellent performance is verified by simulation for wind disturbances and variations from -30% to +30% of the aerodynamic coefficients.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.5
• /
• pp.537-542
• /
• 2014

This paper proposes a control system to keep the balance of a unicycle robot. The robot consists of the disk and wheel, for balancing and driving respectively, and the tile angle is measured and used for balancing by the IMU sensor. A PID controller is designed based on a non-model based algorithm to prove that it is possible to control the unicycle robot without any approximated linear system model such as the sliding mode control algorithm. The PID controller has the advantage that it is simple to design the controller and it does not require an unnecessary complex formula. In this paper, assuming that the pitch and roll axis are dynamically decoupled, each of the two controllers are designed separately. A reaction wheel pendulum method is used for the control of the roll axis, that is, for balancing and an inverted pendulum concept is used for the control of the pitch axis. To confirm the performance of the proposed controllers using MATLAB Simulink, the dynamic equations of the robot are derived.

• Journal of the Korean Society for Precision Engineering
• /
• v.31 no.8
• /
• pp.705-713
• /
• 2014

In this paper, we propose a novel velocity ripple controller using phase compensation feedforward control. Velocity ripples result in many kinds of performance degradations in manufacturing machines, especially such as ultra-precision roll lathes. The generation of velocity ripple in constant velocity control comes from various causes, such as electrical torque ripples, mechanical worn out, inconsistent mass center, etc. Conventional researches about ripple is mainly for reducing torque ripple in actuator level, which is only one of reasons for velocity ripples, so in this study, we focus on eliminating velocity ripples in upper level controller using phase compensation feedforward controller. The proposed algorithm is composed of several modules, such as ripple extractor, phase adjuster and phase follower etc. The suggested algorithm can be easily extended, and it shows a superior performance in the experiments of ultra-precision roll lathes.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.32 no.4
• /
• pp.34-42
• /
• 2004

In this paper, a double gimbal is used for roll/yaw attitude control of spacecraft and two feedback controllers are designed. One is a PD controller of no phase difference between roll and yaw control input. The other is a PD controller with a phase lag compensator about the yaw control input. The phase lag compensator is designed a first order system and a lag parameter is designed for the control of yaw angle. There are two case simulations for each of controllers; constant disturbance torques and initial errors of nutation. We obtain the results through simulations that a steady-state error and a rising time of yaw angle are developed by the compensator. In this paper, simulation parameters use the values of KOREASAT 1.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.19 no.3
• /
• pp.353-358
• /
• 2010

This research introduces a new and improved design for a pneumatic cylinder driven roll feeder wherein each of the principal rotating feeder parts is configured so as to have feeding accuracy and to be low manufacturing cost. The feed pitch accuracy of the proposed roll feeder was evaluated by measuring lengths of cut offs of the strip stock with a shear attached to an air press. The air press was designed, manufactured, and mounted on the same table of the proposed roll feeder such that the strip stock maintained horizontal plane until the strip stock entered into the shear. The proposed roll feeder and the air press were designed to be operated automatically by a PLC employed controller. The feed pitch accuracy of the proposed roll feeder was analyzed by setting the pitch as 10, 12.5, and 15mm. At each predetermined feed pitch, the proposed roll feeder was tested 300 times as one test set and replicated three times. The average lengths of the cut offs of the strip stock ranged from 9.98 to 10.13mm, from 12.42 to 12.57mm, and from 14.96 to 15.06mm at the predetermined 10, 12.5, and 15mm feed pitch, respectively, among the total of 900 samples of each feed pitch. Main cause of variation of the length of the cut off of the strip stock fed by the proposed roll feeder was considered to be fluctuation of the air press during recompressing period of the air compressor to pressurize the air in the air tank. The largest difference between the maximum and the minimum length of the cut off was appeared while the air compressor recompressing the air. The air compressor used for this study restricted the air delivered to the proposed roll feeder while it was still running. Thus, this air delivery restriction problem should be improved by stabilizing the air press while the proposed roll feeder is running.