• 한국소음진동공학회논문집
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• 제13권11호
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• pp.860-867
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• 2003

This paper presents a systematic method measuring a velocity disturbance to design the robust seek loop system of optical disk drives. The velocity disturbance caused by the rotation of a disk has a greater influence on the performance of the seek control loop as the rotational speed increases. Thus, it needs to measure the extent of the velocity disturbance and design the seek control loop based on the measured data. The measurement method of the velocity disturbance is a real-time . method using a measurable velocity and a velocity controller output and is a robust method considering actuator uncertainties. The loop gain adjustment algorithm is introduced to compensate for the actuator uncertainties. The proposed method is implemented by an experimental digital system and is evaluated through an experiment.

• 대한전자공학회논문지
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• 제9권2호
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• pp.17-23
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• 1972

본논문에서는 운동매질내에서 크기가 파장과 동등정도이거나 그 이상인 circular loop antenna의 방사특성을 전류분포가 정현파적인 경우에 대하여 고찰하였다. 고찰결과로는 방사특성이 매질속도의 영향을 받는다는 사실과 그 영향으로는 정지매질의 radiation pattern 과 비교하여 방사지향성이 loop antenna면에 평행인 매질속도성분에만 영향을 받고 수직성분속도에는 무관하며 radiation pattern의 최대지향성은 loop면에 평행인 속도성분방향으로 이동하고 이와 반대방향으로는 Pattern의 크기가 증가하게 된다. 또 이와 같은 운동매질의 영향은 매질속도도가 오고 전류주파수가 높을수록 antenna의 직경이 클수록 더욱 현저하게 된다는 사실을 알게 되었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.744-747
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• 2005

This research studied 6-Axes Articulated Robot Manipulator's gain Tuning in consideration of dynamic. First of all, search fur proportional gain of velocity control loop by dynamic signal analyzer. Proportional gain of velocity control loop is connected to dynamic signal analyzer. Next Select free Proportional Gain value. And Select amplitude X of sinusoidal properly so that enough Velocity Feedback Signal may be paid as there is no group to utensil department. Next step, We can get Bode Diagram of Closed loop transfer function response examination in interested frequency. Integral calculus for gain of velocity loop is depended on integral calculus correction's number. We can obtain open loop transfer function by integrator. And we can know bode diagram's special quality from calculated open loop transfer function. With this, Velocity Control Loop's Parameter as inner loop is controlled. Next In moving, when vibration occurs, it controls notch filter. And finally, we have to control fred-forward filter parameter for elevation of control performance.

• 제어로봇시스템학회논문지
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• 제12권8호
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• pp.739-745
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• 2006

This paper presents performance improvement of the INS velocity-adided GPS carier tracking loop. To this end, INS velocity-aided GPS carrier tracking loop was modeled as a feedfoward and a feedback loop system. In the phase tracking loop, it was shown that the tracking error caused by the dynamic motion of the vehicle can be compensated with the aiding of the INS information irrespective of the loop order and bandwidth. However, the signal trcking error increases as the INS error increases. It was also shown that in order to remove the tracking error caused by INS bias error, more than or equal to 2nd order PLL should be used. Experiments were carried out and the experimental results were compared with the analysis results.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.634-640
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• 2011

When a servo position controller of a robot or a driving units is composed of a PID controller, servomechanism which is modelled is composed of current, velocity and position control loops. After this model is simulated, the technique operating gain of each controller is suggested. The model consists of current, velocity and position controllers from the inside to the outside gradually. Also, to combine velocity and position controllers with 2 order system, simulation is performed after current controllers are composed, which are able for current loop to work ideally. If a current controller is treated with constant, it is possible for velocity and position controller to consist of controller into 2 order system. The technique is verified by applying T-company servo motor which is much more applied to current, velocity and position controller robots.

• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.243-250
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• 2007

This paper presents a systematic method of estimating a velocity disturbance occurring in the fine seek control system of an optical disk drive. A fine seek loop gain adjustment algorithm is introduced to accurately estimate the velocity disturbance in spite of the uncertainties of the fine actuator. The velocity disturbance can be estimated from a measurable velocity, a fine seek controller output, and a compensated fine actuator model. A robust fine seek controller can be designed by considering a minimum fine seek open-loop gain, calculated by the estimated velocity disturbance. The proposed controller design method is applied to the fine seek control system of a DVD rewritable drive and is evaluated through the experimental results.

• 한국소음진동공학회논문집
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• 제17권9호
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• pp.805-812
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• 2007

This paper present a robust controller design method based on the estimation of velocity disturbance to construct a robust fine seek control system. A loop gain adjustment algorithm is introduced to accurately estimate the velocity disturbance in spite of the uncertainties of fine actuator. A weighting function is optimally selected from a minimum fine seek open-loop gain, calculated by estimating the velocity disturbance. A robust fine seek controller is designed by considering a robust $H_{\infty}$ control problem using the weighting function. The proposed controller design method is applied to the fine seek control system of a DVD rewritable drive and is evaluated through the experimental results.

• 대한전자공학회논문지
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• 제7권3호
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• pp.12-18
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• 1970

본 논문에서는 광속에 비해서 대단히 낮은 속도로 운동하고 있는 선형, 등방, 균질 매질내에서 크기가 파장과 동등정도이거나 그 이상인 Circular Loop Antenna의 방사특성을 고찰하였다. 고찰에 있어서 우선 운동매질내에서의 전자파방정식인 Maxwell-Minkowski방정식을 토대로 하여 Circular loop antenna에 해당하는 Vector potential을 유도하고 전자계식을 구하였다. 다음 이와같이 유도된 식들로부터 특정한 파장과 속도에 대한 전자계를 계산하고 field pattern을 도시하였으며 이 pattern과 정지매질에서의 field pattern을 비교 검토하였다. 검토한 결과, 지향성은 loop면에 평행한 속도성분에 한하여 속도방향으로는 축소되고 속도와 반대방향으로는 신장되는 사실이 발견되었으며 이 경향은 속도가 클수록 동진주파수가 높을수톡 크게됨을 알수 있었다.

• 한국소음진동공학회논문집
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• 제25권5호
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• pp.361-368
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• 2015

This paper deals with a robust fine seek controller design problem with multiple constraints using a genetic algorithm. A robust $H\infty$ constraint is introduced to attenuate effectively velocity disturbance caused by the eccentric rotation of the disk. A weighting function is optimally selected based on the estimation of velocity disturbance and the estimated minimum velocity loop gain. A robust velocity loop constraint is considered to minimize the variances of the velocity loop gain and bandwidth against the uncertainties of fine actuator. Finally, a robust fine seek controller is obtained by solving a genetic algorithm with an LMI condition and an appropriate objective function. The proposed controller design method is applied to the fine seek control system of a DVD recording device and is evaluated through the experimental results.

• 드라이브 ㆍ 컨트롤
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• 제15권4호
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• pp.55-60
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• 2018

Force-controlled electro-hydrostatic actuators have to exhibit high backdrivability, to quickly compensate for force control errors caused by externally disturbed rod movement. To obtain high backdrivability, the servomotor for driving the hydraulic pump, should rotate exactly to such a revolution to compensate for force control errors, compressing or decompressing cylinder chambers. In this study, we proposed a modified velocity control structure, including a robust internal-loop compensator (RIC)-based velocity controller, for the servomotor to improve backdrivability of a force-controlled EHA. Performance improvement was confirmed experimentally, wherein sinusoidal velocity disturbance was applied to the force-controlled EHA, with constant reference input. Its dynamic force control errors reduced effectively, with the proposed control scheme, compared to test results with a conventional motordriver, for motor velocity control.