• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.3
• /
• pp.226-232
• /
• 2016

This paper describes the design of a smart three-axis force sensor for measuring forces Fx, Fy and Fz. The smart three-axis force sensor is composed of a three-axis force sensor, a force-measuring device, housing and a cover, where the three-axis force sensor and the force-measuring device are inside the housing and the cover. The measuring device measures forces Fx, Fy and Fz from the three-axis force sensor, and calculates the resultant force using the measured forces, and then sends the resultant force and forces to a PC or other controller using RS-485 communication. The repeatability error and the non-linearity error of the smart three-axis force sensor are less than 0.03%, and the interference error of the sensor is less than 0.87%. It is thought that the sensor can be used for measuring forces in a robot, automatic systems and so on.

• The KSFM Journal of Fluid Machinery
• /
• v.11 no.3
• /
• pp.43-49
• /
• 2008

The pump control valve is a butterfly valve that has an eccentric rotating axis. It is not only used as a butterfly valve to control the flow rate or pressure, but also as a check valve to prevent backward flow. A new design method of eccentric rotating axis is proposed to design the valve. The height of the rotating axis is determined through flow field analysis. A general purpose of computational fluid dynamics software system, Fluent is used to simulate the fluid flow. Flow field analysis is performed for various heights of the rotating axis and different opening angles of the valve. A characteristic function is defined for estimating the flow characteristics based on the results of flow field analysis. The characteristic function is defined in order to determine the height of the rotating axis. An optimization problem with a characteristic function is formulated to determine the amount of eccentricity. The height of the Totaling axis of the valve is determined through solving the optimization problem.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.844-847
• /
• 1996

This paper describes the servo position control for the 2-axis positioning table the servo controller consists of conventional feedback loops, disturbance observer. To reduce the contour error, which occurs in the multi-dimensions machines, cross-coupled controller(CCC) is suggested. A weak point of the CCC is their low effectiveness in dealing with arbitrary nonlinear contour such as circles and parabolas. This paper introduces a new nonlinear CCC that is based on control gains that vary during the contour movement The gains of CCC and adjusted in real time according to the shape of nonlinear contour. The feedback controller based on the disturbance observer compensated for external disturbance, plant uncertainty and bad effectiveness by friction model. Suggested servo controller which improve the contouring accuracy, apply to the 2-axis system. Simulation results on 2-axis table verify the effectiveness of the proposed servo controller.

• Proceedings of the KIPE Conference
• /
• 2010.11a
• /
• pp.250-251
• /
• 2010

본 연구는 수평축(horizontal axis) 풍력 터빈에 의해서 수직축 발전기를 운전하는 구조 및 그 운전 방식에 관한 것으로서 바람에 의해 수평축 터빈 로터로 입력된 회전력을 기계적으로 두 개의 수직축 회전 성분으로 변환하여 이들로부터 전기 에너지를 얻어내고 필요에 따라 터빈 날개가 바람이 부는 방향을 향하도록 yaw-axis 제어를 하는 기술에 관한 것이다.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1334-1337
• /
• 1997

A spacecraft attitude control ground hardware simulator development is discussed in the paper. The simulator is called KT/KARI HILSSAT(Hardware-In-the Loop Simulator Single Axis Testbed), and the main structure consists of a single axis bearing and a satellite main body model on the bearing. The single axis tabel as ans experimental hardware simulator that evaluates performance and applicability of a satellite before evolving and/or confirming a mew or and old control logic used in the KOREASAT is developed. Attitude control of spaceraft by using reaction wheel is performed.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.586-591
• /
• 1986

In this paper, we designed simultaneous 2-axis control system using commercialized custom ICs for positioning and interpolation that is very compact and high reliable. This system is primarily designed for NC system, we verified it is more complete than the other hardware & software based system in its function, control accuracy and cost. Also, this system can be expanded for multi-axis control, it can be applied to the control of more complicated mechanism such as articulated robot.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.1 s.173
• /
• pp.182-189
• /
• 2000

This paper presents the real time control method of 5-axis NC machine for high precision and productivity based on the curvature theory, of a ruled surface. The trajectory, of NC machine is described by, way of a ruled surface generated by the points on part surface and tool axis direction vector. The curvature theory, of a ruled surface is then applied to deter-mine the motion parameters of the 5-axis machine for control. The controller computes position, orientation, and differential motion parameters of the tool in each sampling period. The real-time approach produces smoother surfaces and requires substantially less machining time compared to conventional off-line approaches. The propose real-time control method based of the curvature theory of a ruled surface may give new methodology of precision 5-axis machine control.

• Asian-Australasian Journal of Animal Sciences
• /
• v.29 no.1
• /
• pp.149-156
• /
• 2016

In this experiment, we proposed and implemented a disease forecasting system using a received signal strength indication ZigBee-based wireless network with a 3-axis acceleration sensor to detect illness at an early stage by monitoring movement of experimentally infected weaned piglets. Twenty seven piglets were divided into control, Salmonella enteritidis (SE) infection, and Escherichia coli (EC) infection group, and their movements were monitored for five days using wireless sensor nodes on their backs. Data generated showed the 3-axis movement of piglets (X-axis: left and right direction, Y-axis: anteroposterior direction, and Z-axis: up and down direction) at five different time periods. Piglets in both infected groups had lower weight gain and feed intake, as well as higher feed conversion ratios than the control group (p<0.05). Infection with SE and EC resulted in reduced body temperature of the piglets at day 2, 4, and 5 (p<0.05). The early morning X-axis movement did not differ between groups; however, the Y-axis movement was higher in the EC group (day 1 and 2), and the Z-axis movement was higher in the EC (day 1) and SE group (day 4) during different experimental periods (p<0.05). The morning X and Y-axis movement did not differ between treatment groups. However, the Z-axis movement was higher in both infected groups at day 1 and lower at day 4 compared to the control (p<0.05). The midday X-axis movement was significantly lower in both infected groups (day 4 and 5) compared to the control (p<0.05), whereas the Y-axis movement did not differ. The Z-axis movement was highest in the SE group at day 1 and 2 and lower at day 4 and 5 (p<0.05). Evening X-axis movement was highest in the control group throughout the experimental period. During day 1 and 2, the Z-axis movement was higher in both of the infected groups; whereas it was lower in the SE group during day 3 and 4 (p<0.05). During day 1 and 2, the night X-axis movement was lower and the Z-axis movement was higher in the infected piglets (p<0.05). Overall, the movement of infected piglets was altered, and the acceleration sensor could be successfully employed for monitoring pig activity.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.31.4-31
• /
• 2001

This paper deals with a control technique of eliminating the transient vibration of a waist axis of an articulated robot. This technique is based on a model-based control in order to establish the damping effect on the mechanical part. The control model is composed of reduced-order electrical and mechanical parts. This model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically and is added to the velocity command to suppress the transient vibration of a waist axis of the arm. This control model is easily obtained from design or experimental data and can be easily integrated into a DSP. This control technique is applied to a waist axis of an articulated robot composed of a harmonic drive ...

• Journal of Electrical Engineering and Technology
• /
• v.13 no.6
• /
• pp.2301-2309
• /
• 2018

In a field-oriented vector-controlled permanent magnet synchronous motor (PMSM) control system, the d-axis current control loop can offer a free degree of freedom which can be used to improve control performances. However, in the industry the desired d-axis current command is usually set as zero without using the free degree of freedom. This paper proposes a method to use the degree of freedom for control performance improvement. It is assumed that both the inner loop proportional-integral (PI) current controller and the q-axis outer loop PI speed controller are tuned by the well-known tuning rules. This paper gives an optimal d-axis reference current command generator such that some useful performance indexes are minimized and/or a tradeoff between conflicting performance criteria is made. This paper uses a differential evolution algorithm to autotune the parameter values of the optimal d-axis reference current command generator. This paper implements the proposed control system in real time on a Texas Instruments TMS320F28335 floating-point DSP. This paper also gives experimental results showing the practicality and feasibility of the proposed control system, along with simulation results.