• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1249-1253
• /
• 2004

A robust input modification approach to the control of flexible joint robot is presented. In our previous study, we developed an observer based state feedback control for the suppression of residual vibration of a robot. The control was very effective in suppressing the inherent vibration of a flexible joint robot. However it did not meet high performance requirements under high speed motion and model uncertainties. As a solution of the problem, we present an input modification method with robustness against parametric uncertainties. The main idea of the proposed input modification method is to generate a modified reference position command for fast and accurate motion of the robot. Using this proposed method we can reduce the servo delay and settling time by about 60% and substantially improve the path accuracy.

• Journal of Power System Engineering
• /
• v.7 no.4
• /
• pp.74-81
• /
• 2003

An LQ controller design method is proposed for effective anti-sway control of boom type crane in this paper. It is important for high productivity that the sway of a load is controlled as fast as possible when the trolley arrives to the destination with maximum velocity. To prove the effectiveness of the proposed LQ controller. simulations and experiments using the boom type crane as experimental device is carried out. Tracking performance for a step type reference and robustness for the change of working environment such as the change of load weight and parameters produced by a wire rope and disturbance by the wind arc proved by the experiment. It will be examined that boom type crane can be applied to industrial fields through experiment in this paper.

• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.51 no.6
• /
• pp.313-320
• /
• 2002

In this paper, a new current controller with fast transient response is Proposed. The basic concept is to find the optimal control voltage for tracking the reference current with minimum time under the voltage limit constraint. The generalized solution of the minimum time current control in the systems are presented in this paper. With the generalized solution, the minimum time current controller can be easily applied to all the 3-phase balanced system. Through the simulation and the experiment, it is observed that the proposed controller has much less transient time than the conventional synchronous PI regulator.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.8
• /
• pp.1939-1951
• /
• 1994

This study introduces a new tool breakage detecting technology comprised of an unsupervised neural network combined with adaptive time series autoregressive(AR) model where parameters are estimated recursively at each sampling instant using a parameter adaptation algorithm based on an RLS(Recursive Least Square). Experiment indicates that AR parameters are good features for tool breakage, therefore it can be detected by tracking the evolution of the AR parameters during milling process. an ART 2(Adaptive Resonance Theory 2) neural network is used for clustering of tool states using these parameters and the network is capable of self organizing without supervised learning. This system operates successfully under the wide range of cutting conditions without a priori knowledge of the process, with fast monitoring time.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2002.04a
• /
• pp.173-179
• /
• 2002

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) fur robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable fur implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.12
• /
• pp.1070-1078
• /
• 2000

A nonlinear adaptive flight control system is proposed using a backstepping controller with neural network controller. The backstepping controller is used to stabilize all state variables simultaneously without the two-timescale assumption that separates the fast dynamics, involving the angular rates of the aircraft, from the slow dynamics which includes angle of attack, sideslip angle, and bank angle. It is assumed that the aerodynamic coefficients include uncertainty, and an adaptive controller based on neural networks is used to compensate for the effect of the aerodynamic modeling error. It is shown by the Lyapunov stability theorem that the tracking errors and the weights of neural networks exponentially converge to a compact set. Finally, nonlinear six-degree-of-freedom simulation results for an F-16 aircraft model are presented to demonstrate the effectiveness of the proposed control law.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1997.04a
• /
• pp.125-130
• /
• 1997

In this paper, it is presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C3x is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, andsuitable for implementation of robust control.

• 한국가시화정보학회:학술대회논문집
• /
• 2005.12a
• /
• pp.40-45
• /
• 2005

Velocity and density distributions of a high-speed and initial $CO_{2}$ jet flow have been analyzed simultaneously by a developed three-dimensional digital speckle tomography and a particle image velocimetry(PIV). Three high-speed cameras have been used for tomography and PIV since a shape of a nozzle for the jet flow is asymmetric and the initial flow is fast and unsteady, The speckle movements between no flow and $CO_{2}$ jet flow have been obtained by a cross-correlation tracking method so that those distances can be transferred to deflection angles of laser rays for density gradients. The three-dimensional density fields for the high-speed $CO_{2}$ jet flow have been reconstructed from the deflection angles by a real-time tomography method and the two-dimensional velocity fields have been calculated by a PIV method simultaneously and instantaneously.

• Proceedings of the Korean Society of Broadcast Engineers Conference
• /
• 2010.07a
• /
• pp.40-41
• /
• 2010

실시간 파노라마 영상 합성 기술을 모바일 콘텐츠에 적용하기 위해서는 모바일 디바이스에 적합한 영상 합성 방식을 정의해야 한다. 특징점을 추출하여 연속적인 영상들 사이의 유사성을 찾아내는 방식 [1]은 소모되는 연산비용을 고려할 때 모바일 디바이스에 응용하기 부적합하다. 따라서 기존의 접근방식에 비해 소요되는 연산비용을 줄이고, 성능은 유지하는 기법이 필요하다. 본 논문에서는 특징점의 표현자(descriptor)를 생성하지 않고 특징점(feature point) 주변의 움직임을 추정(motion estimation)하여 연속적인 영상의 위치를 찾아내는 기법을 제안한다.

• Journal of Electrical Engineering and Technology
• /
• v.10 no.2
• /
• pp.529-538
• /
• 2015

Due to the high efficiency and compact mechanical structure, direct drive variable speed generators are used for power conversion in wind turbines. The wind energy conversion system (WECS) considered in this paper consists of a permanent magnet synchronous generator (PMSG), uncontrolled rectifier, dc-dc boost converter controlled with maximum power point tracking (MPPT) and adaptive hysteresis controlled voltage source inverter (VSI). For high utilization of the converter's power capability and stabilizing voltage and power flow, constant DC-link voltage is essential. Step and search MPPT algorithm which senses the rectified voltage ($V_{DC}$) alone and controls the same is used to effectively maximize the output power. The adaptive hysteresis band current control is characterized by fast dynamic response and constant switching frequency. With MPPT and adaptive hysteresis band current control in VSI, the DC link voltage is maintained constant under variable wind speeds and transient grid currents respectively.