• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.2
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• pp.96-103
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• 2005

The early detection of the bearing defects in rotating machinery is very important since the critical failure of bearing causes a machinery shutdown. However it is not easy to detect the vibration signal caused by the initial defects of bearing because of the high level of random noise. A signal processing technique, called the adaptive line enhancer(ALE) as one of adaptive filter, is used in this study. This technique is to eliminate random noise with little a prior knowledge of the noise and signal characteristics. Also we propose the optimal methods fir selecting the three main ALE parameters such as correlation length filter order and adaptation constant. Vibration signals f3r three abnormal bearings, including inner and outer raceways and ball defects, were acquired by Anderon(angular derivative of radius on) meter. The experimental results showed that ALE is very useful f3r detecting the bearing defective signals masked by random noise.

• Journal of Electrical Engineering and Technology
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• v.8 no.6
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• pp.1439-1450
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• 2013

This paper investigates a robust neuro-fuzzy control (NFC) method which can accurately follow the speed reference of an interior permanent magnet synchronous motor (IPMSM) in the existence of nonlinearities and system uncertainties. A neuro-fuzzy control term is proposed to estimate these nonlinear and uncertain factors, therefore, this difficulty is completely solved. To make the global stability analysis simple and systematic, the time derivative of the quadratic Lyapunov function is selected as the cost function to be minimized. Moreover, the design procedure of the online self-tuning algorithm is comparatively simplified to reduce a computational burden of the NFC. Next, a rotor angular acceleration is obtained through the disturbance observer. The proposed observer-based NFC strategy can achieve better control performance (i.e., less steady-state error, less sensitivity) than the feedback linearization control method even when there exist some uncertainties in the electrical and mechanical parameters. Finally, the validity of the proposed neuro-fuzzy speed controller is confirmed through simulation and experimental studies on a prototype IPMSM drive system with a TMS320F28335 DSP.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.2
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• pp.94-98
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• 1999

Optical scanning systems use glavanometers to point the laser beam to the desired position on the workpiece. The angular speed of a galvanometer is typically controlled using Proportional+Integral+Derivative(PID) control algorithms. However, natural variations in the dynamics of different galvanometers due to manufacturing, aging, and environmental factors(i.e., process uncertainty) impose a hard limit on the bandwidth of the galvanometer control system. In general, the control bandwidth translates directly into efficiency of the system response. Since the optical scanning system must have rapid response, the higher control bandwidth is required. Auto-tuning PID algorithms have been accepted in this area since they could overcome some of the problems related to process uncertainty. However, when the galvanometer is attached to a larger mechanical system, the combined dynamics often exhibit resonances. It is well understood that PId algorithms may not have the capacity to increase the control bandwidth in the face of such resonances. This paper compares the achieable performance and robustness of a galvanometer control system using a PID controller tuned by the Ziegler-Nichols method and a controller designed by the Quantitative Feedback Theory(QFT) method. The results clearly indicate that-in contrast to PID designs-QFT can deliver a single, fixed controller which will supply high bandwidth design even when the dynamics is uncertain and includes mechanical resonances.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.83-93
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• 2002

This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven for following straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional-integral-derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90$^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and these results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.10a
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• pp.86-91
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• 2004

It is very important to detect the bearing defects in rotating machinery since the critical failure of bearing cause a machinery shutdown. However it is difficult to detect the vibration signal resulting from the initial defects of bearing because of the high level of broadband noise. A signal processing technique, called the adaptive line enhancer(ALE) as one of adaptive filter, is studied in this work. This technique is to eliminate broadband noise without a prior knowledge of the noise and signal characteristics. Also we propose the optimal methods for selecting the three main ALE parameters such as correlation length, filter order and adaptation constant used in the adaptative process. Vibration signals for three abnormal bearings, including inner and outer raceways and ball defects, were acquired from Anderon(angular derivative of radius on)meter. The experimental results showed that the proposed technique can reliably detect the bearing defective signals masked by broadband noise.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.97-107
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• 2011

This paper describes efficient flight control algorithms for building a reconfigurable ad-hoc wireless sensor networks between nodes on the ground and airborne nodes mounted on autonomous vehicles to increase the operational range of an aerial robot or the communication connectivity. Two autonomous flight control algorithms based on adaptive gradient climbing approach are developed to steer the aerial vehicles to reach optimal locations for the maximum communication throughputs in the airborne sensor networks. The first autonomous vehicle control algorithm is presented for seeking the source of a scalar signal by directly using the extremum-seeking based forward surge control approach with no position information of the aerial vehicle. The second flight control algorithm is developed with the angular rate command by integrating an adaptive gradient climbing technique which uses an on-line gradient estimator to identify the derivative of a performance cost function. They incorporate the network performance into the feedback path to mitigate interference and noise. A communication propagation model is used to predict the link quality of the communication connectivity between distributed nodes. Simulation study is conducted to evaluate the effectiveness of the proposed reconfigurable airborne wireless networking control algorithms.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.319-324
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• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.11
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• pp.43-51
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• 2021

A robust tracking controller design was developed for a rotary motion control system. The friction force versus the angular velocity was measured and modeled as a combination of linear and nonlinear components. By adding a model-based friction compensator to a nominal proportional-integral-derivative controller, it was possible to build a simulated control system model that agreed well with the experimental results. A zero-phase error tracking controller was selected as the feedforward tracking controller and implemented based on the estimated closed-loop transfer function. To provide robustness against external disturbances and modeling uncertainties, a disturbance observer was added in the position feedback loop. The performance improvement of the overall tracking controller structure was verified through simulations and experiments.

• Bulletin of the Korean Chemical Society
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• v.16 no.12
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• pp.1193-1203
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• 1995

In this work, we focused on the setup of the tools for the analysis of the final rotational state distribution of photofragments in vibrational predissociations of triatomic van der Waals molecules A-B2. We found that reflection principle used for the direct photodissociation processes can also be applied to find out the final rotational state distributions for indirect photodissociation processes. The quantity which represents the strength of rovibrational coupling between the quasi-bound state and the final state is reflected into the mirror of the classical angular momentum function, instead of the initial state before light absorption used in the reflection principle of direct processes. The sign change in the first derivative of the interaction potential with respect to the bond distance of B2 is found to be the source of the binodal structures in the final rotational distributions of photofragments in the model system studied in this work. In MQDT analysis, short range eigenchannel basis functions were found to be localized in angle, in the previous work [Lee, C.W. Bull. Korean Chem. Soc. 1995, 16, 957.] and may be called angle functions. Angle functions enjoy simple geometrical structures which have simple functional relations with the final state distributions of photofragments. Two processes take place along the angle functions which resemble the quasi-bound state and dominate over other processes. Two such angle functions are found to be not only localized angularly but also localized either one of ends of B2 in motions along the bond of B2. These dominating photodissociation processes, however, cancel each other. This cancellation causes photodissociation to depend sensitively on the interaction potential at other angles than the dominant one. Part of potential surface where much larger torque exists can now play an important role in photodissociation. MQDT also enables us to see which processes play important roles after cancellation. This is done by examining the amounts of time delayed by asymptotic eigenchannels.