• Journal of Power Electronics
• /
• v.15 no.6
• /
• pp.1547-1558
• /
• 2015

A predictive functional control (PFC) scheme for permanent magnet synchronous motor (PMSM) servo systems is proposed in this paper. The PFC-based method is first introduced in the control design of speed loop. Since the accuracy of the PFC model is influenced by external disturbances and speed detection quantization errors of the low distinguishability optical encoder in servo systems, it is noted that the standard PFC method does not achieve satisfactory results in the presence of strong disturbances. This paper adopted the Kalman filter to observe the load torque, the rotor position and the rotor angular velocity under the condition of a limited precision encoder. The observations are then fed back into PFC model to rebuild it when considering the influence of perturbation. Therefore, an improved PFC method, called the PFC+Kalman filter method, is presented, and a high performance PMSM servo system was achieved. The validity of the proposed controller was tested via experiments. Excellent results were obtained with respect to the speed trajectory tracking, stability, and disturbance rejection.

• Proceedings of the KSRS Conference
• /
• v.2
• /
• pp.725-727
• /
• 2006

The development of GIS and Location-Based Services requires a high-level database that will be able to allow real-time access to moving objects for spatial and temporal operations. MODB.MM is able to meet these requirements quite adequately, providing operations with the abilities of acquiring, storing, and querying large-scale moving objects. It enables a dynamic and diverse query mechanism, including searches by region, trajectory, and temporal location of a large number of moving objects that may change their locations with time variation. Furthermore, MODB.MM is designed to allow for performance upon main memory and the system supports the migration on out-of-date data from main memory to disk. We define the particular query for truncation of moving objects data and design two migration methods so as to operate the main memory moving objects database system and file-based location storage system with.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.51 no.4
• /
• pp.210-217
• /
• 2014

This paper presents experimental studies on controlling one-wheel robot, GYROBO. The previous one has the problem of falling down because the inside gimbal leans against one direction to make it balancing. This structural problem has been solved by redesigning the system. Gains obtained through experimental tasks are used as a gain scheduling method so that GYROBO is more stabilized. A line trajectory following control task is performed to test the driving control as well.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.5 no.4
• /
• pp.77-86
• /
• 1995

The new architecture that fuzzy logic control(FLC) with difficulties for tuning membership function (MF) is parallel with neural networks(NN) to be learned from the output of FLC is proposed. Therefore proposed scheme has the characteristics to utilize the expert knowledge in design process, to be learned during the operation without any learning mode. In this architecture, the function of the FLC is to supply the sliding surface which is constructed on the phase plane by rule base for giving the desired control characteristics and learning criterion of NN and the stabilization of the control performance before NN is learned, The function of the NN is to let the system trajectory be tracked to the sliding surface and reached to the stable point.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.8 no.2
• /
• pp.106-116
• /
• 1998

A position control algorithm of a flexible manipulator is studied. The proposed algorithm is based on an ACFAC(Automatic Constructed Fuzzy Adaptive Controller) system based on the neural network learning algorithms. The proposed system learns membership functions for input variables using unsupervised competitive learning algorithm and output information using supervised outstar learning algorithm. ACFAC does not need a dynamic modeling of the flexible manipulator. An ACFAC is designed that the end point of the flexible manipulator tracks the desired trajectory. The control input to the process is determined by error, velocity and variation of error. Simulation and experiment results show a robustness of ACFAC compared with the PID control and neural network algorithms.

• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.9
• /
• pp.909-913
• /
• 2013

Various types of large substrate handling robots are used in the thin file solar cell manufacturing line as well as LCD or PDP production line. Because the robot handles the heavy substrate at high speed, there are some issues such as vibration control and the optimal design of arms and forks. As the substrate becomes larger and heavier, robot systems are also larger and the vibration issue of the robot end-effector becomes more important. In the paper, we established the robot modeling and the control architecture including the flexible part such as forks. Then, we performed dynamic simulation in the various condition and analyzed the characteristics of the fork vibration. We can reduce the vibration using the trajectory planning and input shaping algorithm and it was proved by experiment.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.23 no.4
• /
• pp.374-379
• /
• 2014

Mobile robots with omni-directional wheels can generate instant omni-directional motion without requiring extra space to change the direction of the body. Therefore, they are capable of moving in an arbitrary direction under any orientation even in narrow aisles or tight areas. In this research, an omni-directional mobile robot based on Mecanum wheels was developed to achieve omni-directionality. A CompactRIO embedded real-time controller and C series motion and I/O modules were employed in the control system design. Ultrasonic sensors installed on the front and lateral sides were utilized to measure the distance between the mobile robot and the side wall of a workspace. Through intensive experiments, a performance evaluation of the mobile robot was conducted to confirm its feasibility for industrial purposes. Mobility, omni-directionality, climbing capacity, and tracking performance of a squared trajectory were selected as performance indices to assess the omni-directional mobile robot.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.7 no.4
• /
• pp.39-45
• /
• 2003

Of the various means for active trajectory correction, a thrust vector control system represents the only principle independent of missile external forces so that this method is operative. The purpose of this study is to analyze the characteristic of jet vane TVC(Thrust vector control) system among mechanical jet deflection. To ensure high performance leading edge shape, aspect ratio and ablated condition is optimized. Supersonic flow system, jet vanes and nozzle with Mach number 2.88 and under expansion ratio 2 were designed to study aerodynamic characteristics of leading edge shape, aspect ratio and ablated conditions.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
• /
• v.15 no.4
• /
• pp.294-304
• /
• 2003

An experimental analysis using three-dimensional laser Doppler velocimetry(LDV) measurement and computational analysis using the Reynolds stress model in FLUENT are conducted to give a clear understanding of the effect of blade loading on the structure of tip leakage flow in a forward-swept axial-flow fan operating at the maximum efficiency condition ($\Phi$=0.25) and two off-design conditions ($\Phi$=0.21 and 0.30). As the blade loading increases, the onset position of the rolling-up of tip leakage flow moves upstream and the trajectory of tip leakage vortex center is more inclined toward the circumferential direction. Because the casing boundary layer becomes thicker and the mixing between the through-flow and the leakage jet with the different flow direction is enforced, the streamwise vorticity decays more fast with the blade loading increasing. A distinct tip leakage vortex is observed downstream of the blade trailing edge at $\Phi$=0.30, but it is not observed at $\Phi$=0.21 and 0.25.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.4
• /
• pp.363-372
• /
• 1997

In this paper, the design and the implementation of the adaptive learning rate neural network controller for an articulate robot, which is being developed (or) has been developed in our Automatic Control Laboratory, are mainly discussed. The controller reduces software computational load via distributed processing method using multiple CPU's, and simplifies hardware structures by the time-division control with TMS32OC31 DSP chip. Proposed neural network controller with adaptive learning rate structure using expert's heuristics can improve learning speed. The proposed controller verifies its superiority by comparing response characteristics of conventional controller with those of the proposed controller that are obtained from the experiments for the 5 axis vertical articulated robot. We, also, present the generalization property of proposed controller for unlearned trajectory and the change of load through experimental data.