• 제어로봇시스템학회논문지
• /
• 제4권3호
• /
• pp.349-359
• /
• 1998

A robot control scheme for specific application a line-tracking system is newly presented. To improve the performance of line-tracking, robot arm dynamics and torque constraints are incorporated into the control scheme. The tracking problem for the workpiece on a variable-speed conveyor is formulated as an optimal tracking problem with specific criteria. Dividing the conveyor speed into the nominal term and the perturbed term, a two-stage control strategy is employed to cope with the nonlinearity and uncertainty of the robot-conveyor system. Simulation results are given to verify good tracking performance with fast cycle time and high accuracy in a robotic workcell.

• 전자공학회논문지S
• /
• 제35S권7호
• /
• pp.22-28
• /
• 1998

This paper includes AC servo motor speed control usig the predictive control strategy. Generally, AC servo motor control should have the fast response characteristics. For the issue, sliding mode control and PID control have been applied. However, the former has the speed ripple response due to the chattering and the latter requires the many trial efforts. Originally, the predictive control which has been used in process control area does not need the priori knowledge for the application system and it is easy to compute the optimal gain with the prediction. In this paper, the TMS320C31 DSP pocessor is used for AC motor control with fst dynamics and the tuning guid-line for the parameters of the predictive control algorithm is given in order to reduce the computation load. Also, the actuator saturationis implemented uisngthe QP(Quadratic Programming) method and the transient response is improved by the identified intertia coefficient when AC motor is drived at forward/reverse rotation.

• 천문학논총
• /
• 제30권2호
• /
• pp.163-167
• /
• 2015

We have carried out integral field unit (IFU) spectroscopy of $H{\alpha}$, [$N{\small{II}}$] and [$O{\small{III}}$] emission lines for a sample of Galactic planetary nebulae (PNe) with Wolf-Rayet (WR) stars and weak emission-line stars (wels). Comparing their spatially-resolved kinematic observations with morpho-kinematic models allowed us to disentangle their three-dimensional gaseous structures. Our results indicate that these PNe have axisymmetric morphologies, either bipolar or elliptical. In many cases the associated kinematic maps for the PNe around hot central stars also reveal the presence of so-called fast low-ionization emission regions.

• 천문학회보
• /
• 제36권1호
• /
• pp.33.1-33.1
• /
• 2011

The plasma sheet of the Earth's magnetosphere is a sheet of hot plasmas in the magnetotail region, dividing the two (northern and southern) lobes of the Earth's magnetic field. It is the key region that is often closely linked to various electromagnetic dynamics in the Earth's magnetosphere-ionosphere system. In particular, it is the region that is most crucial for substorms, which is one of the most dynamic phenomena in the Earth's magnetosphere. The question of substorm triggering remains highly controversial until today, and at the center of the controversy there are several critical physics issues of the plasma sheet. In this talk I will introduce some of the physics issues of the plasma sheet. The specific topics that this talk will cover are (i) the general properties of the plasma sheet, (ii) fast plasma jets and plasma transport problem, (iii) stability/instability problem, and (iv) effects of thin current sheet. I will also present some of our group's recent findings regarding these topics, as obtained by comprehensive analyses of various observational data. The level and content of this talk are designed to be comprehensible to not only space physicists but also the scientists in a related field such as solar and heliospheric physics.

• 전력전자학회:학술대회논문집
• /
• 전력전자학회 2001년도 전력전자학술대회 논문집
• /
• pp.189-192
• /
• 2001

A new phase-shifted parallel-input/series-output dual converter for high-power step-up applications has been proposed. It features a high efficiency due to the low switch turn-off voltage, low device stresses, low ripple contents, and a fast control-to-output dynamics compared to its PWM counterpart. To confirm the validity of the proposed converter, experimental results from an 800W, 350Vdc prototype are presented.

• 전기학회논문지
• /
• 제57권8호
• /
• pp.1383-1391
• /
• 2008

This paper presents an implementation of vector control for SPMSM using model based controller design in MATLAB/SIMULINK. The model based controller design enables fast development of control system for motor by designing controllers and performing simulation on the GUI (Graphic User Interface) platform, converting program code directly into real-time programs, and then performing tests for the responses from controllers. The controllers designed in this paper are PI speed controller and decoupling PI current controller. Also space vector modulation method using offset voltage is used in PWM scheme. And system stability is also secured by close magnitude overmodulation method, maintaining dynamics of load when overmodulation occurs. The validity of vector control implemented is verified through simulations and experiments.

• 한국군사과학기술학회지
• /
• 제10권3호
• /
• pp.181-188
• /
• 2007

This paper presents a torque control method of a hydraulic actuation system for measuring the dynamic stiffness of missile fin actuators. We propose a new control technique called Dual Dynamic Torque Feedback Control(DDTFC), which improves the stability of the torque control system and enables fast tracking of torque command. The developed control scheme is derived from the physical understanding based on mathematical modelling and analysis. The dynamics of hydraulic torque control servo-system is unravelled via physics-based modelling and nonparametric system identification. In order to verify the effectiveness of the method, the experiment is carried out with a test equipment for measuring the dynamic stiffness. The experiment and simulation results show that DDTFC gives stability improvement.

• 한국정밀공학회지
• /
• 제17권1호
• /
• pp.138-144
• /
• 2000

Robot manipulators, which are nonlinear structures and have uncertain system parameters, have complex in dynamics when are operated in unknown environment. To compensate for estimate errors of the uncertain system parameters and to accomplish the desired trajectory tracking, nonlinear robust controllers are appropriate. However, when estimation errors or tracking errors are large, they require large input torques, which may not be satisfied due to torque limits of actuators. As a result, their stability can not be guaranteed. In this paper, a new robust control scheme is presented to solve stability problem and to achieve fast trajectory tracking in the presence of torque limits. By using fuzzy logic, new desired trajectories which can be reduced are generated based on the initial desired trajectory, and torques of the robust controller are regulated to not exceed torque limits. Numerical examples are shown to validate the proposed controller using an uncertain two degree-of-freedom underwater robot manipulator.

• Journal of Power Electronics
• /
• 제17권4호
• /
• pp.953-962
• /
• 2017

Momentum flywheels are widely applied for the generation of small and precise torque for the attitude control and inertial stabilization of satellites and space stations. Due to its inherited system nonlinearity, the tracking performance of the flywheel torque/speed in dynamic/plug braking operations is limited when a conventional controller is employed. To take advantage of the well-separated two-time-scale quantities of a flywheel driving system, the singular perturbation technique is adopted to improve the torque tracking performance. In addition, the composite control law, which combines slow- and fast- dynamic portions, is derived for flywheel driving systems. Furthermore, a novel control strategy for plug braking dynamics, which considers couplings between the Buck converter and the three-phase inverter load, is designed with easy implementation. Finally, experimental results are presented to demonstrate the correctness of the analysis and the superiority of the proposed methods.

• Bulletin of the Korean Chemical Society
• /
• 제20권12호
• /
• pp.1501-1505
• /
• 1999

Expansion dynamics of C$^{+}$ ions ejected from 355-nm laser ablation of graphite target in vacuum has been investigated by pulsed-field time-of-flight (TOF) mass spectrometry. A strong nonlinear dependence of the amount of desorbed C$^{+}$ ions on laser fluence is interpreted by the mechanism that C$^{+}$ ions are produced directly from the graphite via conversion of the multiphoton energy into thermal energy. The temporal evolution of C$^{+}$ ions was measured by varying the delay time of the ion repelling pulse with respect to the laser irradiation, which provides significant information on the ablated plume characterization. The TOF distributions of ablated ions showed a bimodal shape and could be fitted by shifted Maxwell-Boltzmann distributions. The velocity of the fast component increases with the delay time, whereas the slow component (< 500 m/s) exhibits a constant velocity. Also studied were the effects of the laser fluence on the energetics of C$^{+}$ ions.