• 제목/요약/키워드: Velocity Compensation

검색결과 215건 처리시간 0.031초

두 시스템간의 편차 최소화를 적용한 상대적 동작제어 방법 (Relative Motion Control Methodology Using the Minimum Relative Error Between Two Systems)

  • 김성권
    • 제어로봇시스템학회논문지
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    • 제9권12호
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    • pp.994-1000
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    • 2003
  • A new relative motion control methodology for a following system to an independent leading system is proposed for controlling relative position, velocity, and tension etc. It is based on maintaining minimum relative error between two independent systems. The control command of the following system to a leading system is generated by adding the current command and the output of the relative error compensation. The proposed control method is implemented on the experimental equipment which is a wire winding-unwinding system to control the tension of the line. The results show the unwinding system(follower) following the independent motion of the winding system(leader) to control the constant tension of the line in order to keep the roller dancer in reference position. The relative motion control method proposed in this paper can be applied to high precision equipment for unwinding and winding fine wire, fine fiber, and tape etc.

극한 무인 로봇 차량을 위한 MEMS GPS/INS 항법 시스템 (MEMS GPS/INS Navigation System for an Unmanned Ground Vehicle Operated in Severe Environment)

  • 김성철;홍진석;송진우
    • 제어로봇시스템학회논문지
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    • 제13권2호
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    • pp.133-139
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    • 2007
  • An unmanned ground vehicle can perform its mission automatically without human control in unknown environment. To move up to a destination in various surrounding situation, navigational information is indispensible. In order to be adopted for an unmanned vehicle, the navigation box is small, light weight and low power consumption. This paper suggests navigation system using a low grade MEMS IMU for supplying position, velocity, and attitude of an unmanned ground vehicle. This system consists of low cost and light weight MEMS sensors and a GPS receiver to meet unmanned vehicle requirements. The sensors are basically integrated by loosely coupled method using Kalman filter and internal algorithms are divided into initial alignment, sensor error compensation, and complex navigation algorithm. The performance of the designed navigation system has been analyzed by real time field test and compared to commercial tactical grade GPS/INS system.

Tracking Control of Mechanical Systems with Partially Known Friction Model

  • Yang, Hyun-Suk;Martin C. Berg;Hong, Bum-Il
    • Transactions on Control, Automation and Systems Engineering
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    • 제4권4호
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    • pp.311-318
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    • 2002
  • Two adaptive nonlinear friction compensation schemes are proposed for second-order nonlinear mechanical systems with a partially known nonlinear dynamic friction model to achieve asymptotic position and velocity tracking. The first scheme has auxiliary filtered states so that a simple open-loop observer can be used. The second one has a dual-observer structure to estimate two different nonlinear aspects of the friction state. Conditions for the parameter estimates to converge to the true parameter values are presented. Simulation results are utilized to show control performance and to demonstrate the convergence of the parameter estimates to their true values.

신경 회로망을 이용한 가변 구조 로보트 제어 (Variable structure control of robot manipulator using neural network)

  • 이종수;최경삼;김성민
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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    • pp.7-12
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    • 1990
  • In this paper, we propose a new manipulator control scheme based on the CMAG neural network. The proposed control consists of two components. The feedforward component is an output of trained CMAC neural network and the feedback component is a modified sliding mode control. The CMAC accepts the position, velocity and acceleration of manipulator as input and outputs two values for the controller : One is the nominal torque used for feedforward compensation(M1 network) and the other is the inertia matrix related information used for the feedback component(M2 network). Since the used control algorithm guarantees the robust trajectory tracking in spite of modeling errors, the CMAC mapping errors due to the memory limitation are little worth consideration.

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벼에 의한 인산흡수의 기작에 관한 연구 (A Kinetic Study of Phosphate Absorption by Rice Roots)

  • 장남기
    • Journal of Plant Biology
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    • 제21권1_4호
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    • pp.33-38
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    • 1978
  • Phosphate absorption from a Na2H32PO4 solution by Oryza sativa L. was studied in order to elucidate kinetic mechanisms of ion transport. The rates of phosphate absorption from different concentraitons indicated the presence of dual mechanisms in root tips, one in the low (1$\times$10-6 to 8$\times$10-5M) and the other in the high (1$\times$10-4 to 8$\times$10-3M). A phosphate compensation point of phosphate transport was revealed with a 1$\times$10-6M solution of Na2H32PO4. The kinetic model that ion transport involves an exchange reaction of absorption and desorptin is prosposed as follows: where C represents an ionic-specific organic carrier in the membrane; M, Mo and Mi are the mineral ions, M-outside and M-inside; MC is a carrier-ion complex; and the K's represent rate constants. In this model, the Mi velocity, v, is given by: {{{{v= {dMi} over {dt}= {(K1K3Mo-K2K4Mi) Ct} over {(K2+K3)+K1Mo+K4Mi} }} where Ct is equal to C+MC, and t is time.

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호모다인 간섭계를 이용한 레이저 진동 측정기의 개발 (Laser Doppler Vibrometer using the Bulk Homodyne Interferometer)

  • 라종필;경용수;왕세명;김경석;박기환
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2003년도 춘계학술대회논문집
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    • pp.397-402
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    • 2003
  • The FM demodulation method for a bulk homodyne laser interferometer is presented. The Doppler frequency that represents the surface velocity of a vibrating object is obtained by using the bulk homodyne laser interferometer, and converted to the voltage signal by using the proposed analogue FM demodulation circuit. The DC offsets of the interferent signals that are obtained from the bulk homodyne interferometer are eliminated by using a simple subtraction. The new method for compensation of the asymmetry of each channels is presented. The light power variation of the interferometer is normalized by using the Auto Gain Controller(AGC). The proposed FM demodulation algorithm is proved by the theoretical method, and validated by the experimental results. In experiments, the proposed FM demodulation algorithm is compared with the conventional demodulation methods.

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선박의 항로추종을 위한 LOS 가이던스 시스템의 제안 (A Proposal of an LOS Guidance System of a Ship for Path Following)

  • 김종화;이병결
    • 제어로봇시스템학회논문지
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    • 제11권4호
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    • pp.363-368
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    • 2005
  • This paper proposes an LOS(line-of-sight) guidance system of a ship for path following. From the viewpoint of a control configuration, guidance is a special type of compensation algorithm that is placed in front of the controller to accomplish navigational objects. A guidance system generates a reference trajectory for trajectory tracking or path control and decides the desired velocity, position and heading angle. A control system executes commands based on a reliable guidance law during navigation. An LOS vector from the vessel to a point on the path between two way-points in straight-line navigation or a point among turning circle in turning navigation is selected, and then a heading angle is calculated to converge the desired path based on the LOS vector. The LOS guidance law is defined for the straight-line and the turning circle, respectively. The effectiveness of the suggested LOS guidance system is assured through computer simulation.

Dispersion-Managed Links Formed of SMFs and DCFs with Irregular Dispersion Coefficients and Span Lengths

  • Lee, Seong-Real
    • Journal of information and communication convergence engineering
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    • 제16권2호
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    • pp.67-71
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    • 2018
  • The various techniques to compensate for the signal distortion due to the group velocity dispersion (GVD) and nonlinear Kerr effects of optical fibers in the optical links have been proposed in the literature. We propose a flexible dispersion-managed link configuration consisted of single-mode and dispersion-compensating fibers with irregular dispersion coefficients over all fiber spans, and an optical phase conjugator added midway along the optical links. By distributing the lengths of the single mode fibers, we achieve a flexible optical link. The simultaneous ascending and descending distribution of the single-mode fiber lengths before and after the optical phase conjugator, respectively, best compensates the distorted wavelength division multiplexed signals in the optical link with non-fixed coefficients. Our result is consistent with those of our previous work on fixed coefficients. Therefore, to improve the compensation at any magnitude of dispersion coefficient, we must artificially distribute the lengths of the single-mode fibers into a dispersion-managed link.

Model 추종형 Servo Controller에 의한 위치제어계의 설계 (The Design of Position Controll System by Model Following Servo Controller)

  • 장기효;하홍곤;홍창희
    • 한국통신학회논문지
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    • 제16권1호
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    • pp.1-12
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    • 1991
  • In this paper the design and construction of discrete model following servo dontroller on the position control system is proposed. The operational time delay of the plant in the controller which is proposed, is considered and the system which is added by the integral compensation in first order difference equation is constructed. By applying the optimal regulator method to the system, the method which find the optimal state feedback gain is developed theoretically. The output of a model which is correspond to a DC Servo motor follow quickly the speed response of a DC Servo motor and the velocity error in ansteady-state is reduced in zero and the position response is controlled correctly, the performance of the controller is contoller is confirmed by Computer Simulation.

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RDPS 분포가 랜덤한 분산 제어 광 링크에서 RDPS 편차에 따른 시스템 성능 (System Performance Depending on the Deviation of RDPS in Dispersion Managed Optical Transmission Link with Random Distribution of RDPS)

  • 이성렬
    • 한국정보통신학회:학술대회논문집
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    • 한국정보통신학회 2014년도 추계학술대회
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    • pp.967-970
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    • 2014
  • 광전송 링크의 유연한 구성을 위해 중계 구간의 RDPS(residual dispersion per span)가 램덤하게 분포하는 광전송 링크에서 RDPS 편차에 따른 분산 특성과 시스템 성능을 살펴보았다. 전송 링크를 구성하는 중계 구간의 RDPS 편차가 적을수록 최적 전체 잉여 분산 (NRD; net residual dispersion)에서 유효 입사 전력의 크기가 신장되는 것을 확인하였다. 또한 RDPS 편차가 적을수록 WDM 채널의 입사 전력에 따른 유효 NRD 범위도 넓어지는 것을 확인하였다.

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