• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.580-585
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• 1986

This paper deals with "chattering" problem in variable structure control system. For digital computer control, chattering reduction algorithm in Analog-VSC is extended to Discrete-VSC. The proposed algorithm is applied to position control of D.C Servo Motor by using 6502 .mu.-processor. The improved transient response, as well as a considerable reduction of chattering, is illustrated experimentally.imentally.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.669-672
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• 1986

The velocity control of hydraulic servo system with heavy load and large capacity was investigated through the linear analysis and digital computer simulation. Each part of the nonlinear hydraulic servo system was mathmatically modelled. The result of linear analysis and computer simulation showed that the use of derivative of load pressure as a feedback signal is effective in velocity control.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.4
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• pp.294-300
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• 2009

The neural network with radial basis function is introduced for position tracking control of AC servo drive with the existence of system uncertainties. An adaptive robust term is applied to overcome the external disturbances. The proposed controller is implemented on a high performance digital signal processing DSP TMS320C6713-300. The stability and the convergence of the system are proved by Lyapunov theory. The validity and robustness of the controller are verified through simulation and experimental results

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.2
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• pp.115-120
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• 1996

In this paper, a sliding mode controller which is characterized by high accuracy, fast response and robustness is applied to speed control of AC-SERVO motor. The control input is changed to the continuous one in the boundary layer to reduce the chattering phenomenon, and the boundary layer converges to zero when the state variables of system reach to steady state values. The integral compensator is added to reduce steady state error and to provide the continuous torque reference. The acceleration which is necessary for the sliding plane is estimated by an obsever. Sliding surface is included in control input to enhance the robustness and transient response without increasing sliding mode controller gain. The proposed controller is implemented by DSP(digital signal processor). The effectiveness of the proposed scheme is demonstrated through experimental works.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.88-93
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• 1996

The study was carried out development a pricision positioning apparatus, consisting of DG servo motor and piezoelectric actuatior. This system is composed of fine and coarse apparatus, measurement system and control system. Peezoelectric actuator is designed for fine positioning. Coarse positioning using lead screw is droved by DC servo motor. Control system output a signal from laser interfermeter and capacitive sensor to amplifer of DC servo motor and piezoelectric actuator after digital signal processing (DSP). Resolution of this apparatus measure with laser interferometer and microsense

• Journal of the Korean Institute of Telematics and Electronics
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• v.22 no.4
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• pp.59-65
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• 1985

This paper presents a design of the PWM digital servo controller and a real-time trajectory planning algorithm and a trajectory tracking algorithm for industrial robot. To be specific, a decentralized control system with hierarchical structure for industrial robot, related hardware and software, and monitor program for convinence of user are implemented. Actually, it was recognized by experiments that continuous path control on the R4 plane was possible using the above servo controller and control algorithms.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.5
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• pp.65-72
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• 2002

In this study, actuator, sensor, guide, power transmission element and control method are considered for ultra-precision positioning apparatus. Through previous process, single plane X-Y stage with ultra-precision positioning is manufactured. Global stage for the purpose of materialization with robust system, is combined by using AC servo motor and ball screw and rolling guide. And ultra-precision positioning system is developed by micro stage with elastic hinge type and piezo element. global servo and micro servo for the purpose of materialization positioning accuracy with nm(nanometer) are controlled simultaneously by using incremental encoder and laser interferometer as displacement measurement sensor. Through previous process, ultra-precision positioning system(100mm stroke and $\pm$ l0nm positioning accuracy) with single plane X-Y stage are materialized.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1995.10a
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• pp.18-23
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• 1995

The study was carried out to develope a precision positioning apparatus, consisting of DC servo motor and piezoelectric actuator. This system is composed of fine and coarse apparatus, measurement system and control system, Piezoelectric actuator is designed for fine positioning. Coarse positioning using lead screw is drived by DC servo motor. Control system output a signal from laser interferometer and microsense to amplifier of DC servo motor and piezoelectric actuator after digital signal processing(DSP). Resolution of this apparatus measure with laser interferometor and microsense

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.11
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• pp.591-598
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• 2000

In this thesis, a digital tracking controller is proposed for multi-axis position control system. Tracking and contouring error exist when the machine tool moves along a trajectory in multi-axis system. The proposed scheme enhances the tracking and contouring performance by reducing the errors. Also, an optimal tracking controller reduces the tracking error by the state feedback and the feedforward compensator reduces the effects of a nonlinear disturbance such as friction or dead zone. The proposed control scheme reduces the contour error which occurred when the tool tracks the reference trajectory. Finally, the performance of the proposed controller is exemplified by some simulations and by applying the real XY servo system.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.05a
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• pp.56-62
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• 1999

We make a study of pricisioning apparatus that is used in the various industrial machine. The study was carried out to develope a pricision positioning apparatus, consisting of servo motor and piezoelectric actuator. This system is composed of fine and coarse apparatus, measurement system and control system. Piezoelectric actuator is designed for fine positioning. Coarse positioning using lead screw is drived by servo motor. Control system output a signal from laser interferometer and microsense to amplifier of servo motor and piezoelectric actuator after digital signal processing(DSP). Resolution of this apparatus measure with laser interferometor and microsense so, we can controlled positioning of one output by the coarse positioning in the system. Also we obtain the positioning resolution of 9nm in the system.