• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.50 no.7
• /
• pp.313-317
• /
• 2001

This paper proposed a fuzzy logic cross coupled controller which can enhance the path tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV follows the guide path, it cannot be avoid the deviation from the path due to the inevitable error and the deviation must be corrected. Optically guided AGV used in industrial area is controlled by On-Off controller generally, the experimental AGV has three optical sensors in front body. In this structure, we could not know the leaving distance accurately and steering angle from the guided line, so AGV could not be controlled properly with conventional controller in the case of increasing or decreasing velocity. If we mount additional sensors the AGV, we could know the leaving distance and steering angle from the guided line and proper error compensating methode can be applied. But because cost of sensors are high, the cost of total system is increasing. So, in this paper, to improve the tracking performance of AGV which has the minimum number of sensors and fuzzy logic cross coupled controller is proposed. Some simulations and experimental results are presented to illustrate the performance of the proposed controller.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.4
• /
• pp.462-470
• /
• 1999

In this paper, we proposed a cross-couple controller for compensating nonlinear friction of the X-Y table of CNC machines. Due to the nonlinearity of the frictions, large contour errors, referred to as quadrant glitches, occur when each axis of the X-Y table makes a zero velocity crossing. To reduce the quadrant glitches the friction compensators and nonlinear friction observers for estimating Coulomb frictions are employed in the proposed method. A hyperbolic tangent function is used in reducing the magnitude of quadrant glitches and the CEM (Contour Error Model) is utilized for the estimation of the velocities. The performance of the proposed compensators is evaluated for several trajectories by computer simulations.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2001.04a
• /
• pp.271-274
• /
• 2001

The present paper deals with the development of digital contouring controller for multiaxial servosystem. Instead of coordinating the commands to the individual feed drives and implementing closed position loop control for each axis, this work is achieved by the evaluation of a optimal cross-couple compensator aimed specifically at improving contouring accuracy in multi-axial feed drives. The optimal control formulation explicitly includes the contour error in the performance index to be minimized. The contouring control is simulated for straight line. The results show that the proposed controller reduces contouring errors considerably, as compared to the conventional uncoupled control for biaxial systems.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.12
• /
• pp.27-32
• /
• 2002

The intensity modulated type (reflective method) optical fiber sensor is a well -known method and widely applied to the displacement measurements and other industrial purposes. This type sensor has the advantages of relatively cheap cost, small sensor size and easiness of operation. The sensitivity of the sensor is very dependent of several error terms; the variation in the intensity of the light source and the changes in the surface reflectivity of the object. An optical fiber coupled displacement probe with a new compensation method is presented in this paper. The proposed displacement sensor can measure the displacements of the target surface independent of surface reflectivity error that is caused by the materials and surface processing grade.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.17 no.5
• /
• pp.44-51
• /
• 2008

In this paper, the optimal tuning of a cross-coupled controller linked with the feedforward controller is studied to reduce contouring and tracking errors of a bi-axial servomechanisms by using the previously developed integrated tuning method. The CCC system for an arbitrary curve, which is combined with the feedforward controller, is formulated by a state-space based on a series of linear motion trajectories. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including relevant controller parameters of the servo. To verify the effectiveness of the proposed optimal tuning procedure, linear and circular motion experiments are performed on the xy-table. Experimental results confirm that both tracking and contouring errors are significantly reduced by applying the proposed control and tuning system.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.8
• /
• pp.65-72
• /
• 1997

An asymmetrical cross-coupled compensator to improve the contouring performance is proposed. This is a refinement of the structure suggested by Koren. The position loop is closed with a proportional controller as in the uncoupled system. An additional input term proportional to the component of the contour error along the corresponding axis is included. The controller gains are chosen to give an appropriate frequency response and an optimum range for the damping ratio. The effectiveness of the proposed controller is studied by means of digital simulations of the dynamics of the drives and the controller for 4 types of command trajectories: straight line contour, cornering contour, circular contour, elliptic contour. Substantial improvement in contouring performance is obtained for a range of contouring conditions.

• Journal of applied mathematics & informatics
• /
• v.27 no.5_6
• /
• pp.1279-1292
• /
• 2009

In this paper, a numerical method that uses standard finite difference scheme defined on Shishkin mesh for a weakly coupled system of two singularly perturbed convection-diffusion second order ordinary differential equations with a discontinuous source term is presented. An error estimate is derived to show that the method is uniformly convergent with respect to the singular perturbation parameter. Numerical results are presented to illustrate the theoretical results.

• Journal of the Earthquake Engineering Society of Korea
• /
• v.24 no.2
• /
• pp.87-93
• /
• 2020

Seismic responses due to the dynamic coupling between a primary structure and secondary system connected to a structure are analyzed in this study. The seismic responses are compared based on dynamic coupling criteria and according to the error level in the natural frequency, with the recent criteria being reliant on the error level in the spectral displacement response. The acceleration responses and relative displacement responses of a primary structure and a secondary system for a coupled model and two different decoupled models of two degrees-of-freedom system are calculated by means of the time integration method. Errors in seismic responses of the uncoupled models are reduced with the recent criteria. As the natural frequency of the secondary system increases, error in the natural frequency decreases, but seismic responses of uncoupled models can be underestimated compared to that of coupled model. Results in this paper can help determine dynamic coupling and predict uncoupled models' response conservatism.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.20 no.5
• /
• pp.589-597
• /
• 2011

In this paper, optimal tuning of a cross-coupled controller linked with the feedforward controller and the disturbance observer is studied to improve contouring and tracking accuracy as well as robustness against disturbance. Previously developed integrated design and optimal tuning methods are applied for developing the robust tuning method. Strict mathematical modeling of the multivariable system is formulated as a state-space equation. Identification processes of the servomechanism are conducted for mechanical servo models. An optimal tuning problem to minimize both the contour error and settling time is formulated as a nonlinear constrained optimization problem including the relevant controller parameters of the servo control system. Constraints such as relative stability, robust stability and overshoot, etc. are considered for the optimization. To verify the effectiveness of the proposed optimal tuning procedure, linear and circular motion experiments are performed on the xy-table. Experimental results confirm the control performance and robustness despite the variation of parameters of the mechanical subsystems.

• Journal of KSNVE
• /
• v.11 no.1
• /
• pp.82-88
• /
• 2001

In a transmission or geared rotor system a coupled phenomenon of lateral and torsional vibrations may occur due to the gear meshing effect. Particularly, in high speed or low vibration and low noise applications of geared rotor systems a coupled rotordynamic analysis is required to precisely predict their dynamic characteristics. In this paper a generalized finite element model of a gear pair element is developed, which actively couples the lateral and torsional vibrations due to the gear meshing effect. In the modeling the generalized forces due to the transmission error. geometrical eccentricities. and unbalances in the gear system are also considered. Then. using the developed gear pair element model a coupled unforced rotordynamic analysis is performed with a prototype 800 RT turbo-chiller rotor-bearing system having a hull-pinion speed increasing gear. Results show that the torsional vibration characteristics experience some changes due to the gear meshing and lateral dynamic coupling effect, but that they have no adverse effect and the lateral ones have no practical changes in an operating speed range.