• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.281-285
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• 1986

In this paper, the characteristics of disturbance torque of gimbal servo dynamics are studied, and the simulation methods of gimbal servo dynamics and INS error due to angular rate and linear acceleration of vehicle are proposed. In results of the simulation for a specific INS, it is estimated that INS velocity error due to gimbal servo dynamics is nearly proportional to square of vehicle acceleration.

• Tribology and Lubricants
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• 제18권1호
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• pp.49-54
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• 2002

In this study, the characteristics of the hydraulic servo mechanism for proportional position control of a hydraulic construction eguipment were analyzed using the developed analysis tool. The result were used in the others hydraulic system except construcdtion eguipment to improve the static performance of the system, the system parameter effects on the controllable region and the hydraulic servo mechanism variation were studied.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2018년도 제57차 동계학술대회논문집 26권1호
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• pp.171-174
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• 2018

A new design method for the two axis servo system using the TRIZ proposes. A noble design scheme between the two servo configurations was obtained after application of the TRIZ contradiction analysis.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2003년도 하계학술대회 논문집
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• pp.161-164
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• 2003

This research presents the parallel control scheme of PID servo-driver for shaping of the curved glass. The designed system consists of a PC, main controller and 11 servo-drivers. Each elements are connected by using RS-232C and 8-bit bus communication. In order to guarantee the stability and the control performance, we use the LM629, a precision PID motion controller, and LMD18200, a H-bridge on the servo-drivers. PC calculates position values of 11 DC motors by using the pre-determined curvature value and offers the user interface environment operator.

• 전기전자학회논문지
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• 제16권3호
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• pp.235-243
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• 2012

In this study, we developed two legged multi-joint robot by using wireless servo motor that was applied by wireless sensor network technology, which is widely used recently, and performed an experiment of walking method of two legged multi-joint robot. We constructed the star network with servo motors which were used at each joint of two-legged robot. And we designed the robot for operation by transmission of joint control signal from main control system or by transmission of the status of each joint to the main control system, so it operates with continuously checking the status of joints at same time. We developed the humanoid robot by using wireless digital servo motor which is different from existing servo motor control system, and controlled it by transmitting the information of angles and speeds of robot joints to the motor(node) as a feedback through main control system after connecting power and setting up the IDs to each joint. We solved noisy problem generated from wire and wire length to connection point of the control device by construction of the wireless network instead of using existing control method of wiring, and also solved problem of poor real time response to gait motion by controlling the position with continuous transmission of control signals to each joint. And we found that the effective control of robot is able by performing the simulation on walking motion in advance with the developed control algorithm which was downloaded into installed memory. Also we performed the stable walking with two-legged robot by attaching pressure sensor to robot sole. And we examined the robot gait operated by application of calculated algorithm on robot movement to each joint. In this study, we studied the method of controlling robot gait motion by using wireless servo motors and measured the torque applied to each joint, and found that the developed wireless servo motor by ZigBee sensor network offers easier control of two legged robot gait and better circuit configuration of it than the existing wired control system could do.

• 항공우주기술
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• 제1권2호
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• pp.105-112
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• 2002

본 논문에서는 KSR-III 김발엔진 구동장치 서보필터 설계 방안에 대한 연구 결과를 정리하였다. 비선형 해석모델에 대한 선형 근사모델을 기준으로 서보필터 설계를 수행하였다. 서보필터의 기본 형상으로서 설계 및 제작의 편의성 관점에서 2차의 Butterworth 저주파 필터를 우선적으로 고려하였다. 저주파 필터만을 사용할 경우 발생하는 불안정성 문제를 해결하기 위해 1차의 보상기를 추가하였다. 전체 로켓 시스템의 위상 안정성 여유와 공진 이득 감쇠를 동시에 고려할 경우, 2차의 Butterworth 필터로는 설계에 한계가 있었으며, 노치 필터를 사용해야 함을 알 수 있었다. 결과적으로, KSR-III 김발엔진 구동장치용 서보필터로는 2차 저주파 노치필터를 궤환신호와 명령신호 간의 오차 신호에 위치시키는 것이 효과적이라는 결론을 얻었다. 여기서 제시한 서보필터 형상을 토대로 추후 KSR-III 비행용 서보필터 제작 및 시험이 이루어질 예정이다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.821-822
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• 2013

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.377-382
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• 1993

The low speed control of a servo motor using instantaneous speed detection method is described. To estimate the instantaneous speed from the average speed, the speed estimator of the first or second order is used. We confirm that these estimatorsimprove the speed control performance of a servo system with experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.1125-1128
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• 1989

In this paper, the inverse model of a servo system is realized in a PDP-type neural network. The neural network learns the mapping between the input and output of the servo system. Some simulation results show the effectiveness of this inverse model obtained here.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.253-254
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• 2009