• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.496-501
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• 2012

An equilibrium point of a WIP (Wheeled Inverted Pendulum) with changing its center of gravity is derived and validated by various numerical simulations. Generally, the WIP has two equilibrium points which are unstable and stable one. The unstable one is interested in this study. To keep the WIP over the unstable equilibrium point, the WIP is consistently being adjusted. A state feedback controller for the WIP needs a control reference for the equilibrium point. The control reference can be obtained by studying an equilibrium point of the WIP based on statics. By using Lagrange method, this study is deriving dynamic equations of the WIP both with and without changing its center of gravity. Various numerical simulations are carried out to show the validation of the equilibrium point.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.341-345
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• 1996

Many mechanical and electrocal systems use the number of motors to make multi degree of freedom motion. One method to reduce the number of motors is suggested by using the 3 D.O.F. motor. The 3 D.O.F. motor has advantages such as downsize, weight reduction, and simplification of the existing 3 D.O.F. systems. In this study, a mathematical model for the 3 D.O.F. motor is suggested and the dynamic equation is derived to analyze the 3 D.O.F. motion. Generallinear control methods are very hard to get the good performance because of the nonlinear terms of each degree of each degree of freedom. To control the motion properly, the nonlinear terms are decoupled using a feedback control law. Nonlinear feedback control law which can arrage the poles arbitrarily is derived. The effects of the gains are examined through computer simulations.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.3
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• pp.160-166
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• 2016

This study proposes the development and performance evaluation of electronic proportional control valve having an LVDT. The electronic proportional control valve is composed of hydraulic valve, proportional solenoid and controller. LVDT is to reduce the steady state error for the reference input of the controller by the feedback signal to detect the displacement of the spool. Designed LVDT is applied to the common proportional valve. In order to evaluate the performance of the developed valve, the hydraulic test equipment was developed and flow tests were carried out. From experimental results, it was proved that the hysteresis was less than 1% based on the maximum flow rate.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.475-480
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• 2000

A new positioning mechanism with Parallel type actuator using piezoelectric material and with dual type actuators using voice coil motor (VCM) and piezoactuator is proposed for optical disk drive or near-field recording type drive, and high speed position and vibration control are investigated. Parallel type bimorph piezoactuator is used as a fine motion actuator with self-sensing technique, which allows a piezoelectric material to concurrently sense and actuate in a closed loop frame work, and positive position feedback control algorithm is adopted to further control residual vibration. For positioning control of VCM, PID control algorithm is adopted.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.440-445
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• 2000

Robust tracking controller of optical disk drive(ODD) is designed using quantitative feedback theory(QFT). Nominal plant model is identified from real system through modal test. Uncertainties and control performance of tracking servo are specified, and robust controller satisfying these specifications is designed in the QFT framework. To verify the performances of designed controller, experiment are performed in a digital signal processor(DSP) environment, and experimental results are compared with simulations.

• Proceedings of the KIEE Conference
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• 1999.11b
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• pp.70-72
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• 1999

Actuator (chopper) and sensors failures resulting from electric shock and mechanical vibration generating by rail irregularities are the serious problem deteriorating the performance in the electromagnetic suspension systems. Thus, this paper proposes the reliable output feedback controller for the electromagnetic levitation systems against actuator, air-gap sensor and acceleration sensor failures. The designed controller is an extend version of a novel design technique which has the design method of the output feedback controller using dynamic compensator. The benefits of this scheme are demonstrated through the experimental results for the proposed controller against chopper, air-gap sensor and acceleration sensor failures of electromagnetic levitation system.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.2
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• pp.61-71
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• 2005

The study reported deals with investigating the feasibility of control strategy for a serial rigid link manipulator that applies impulsive torques at the joints. The strategy is illustrated for a planar three rigid link manipulator. An impulse-based concept which uses successive torque impulses on rigid link as the controller for motion correction was introduced. This control strategy was tested over the entire trajectory to demonstrate that the tracking error could be reduced effectively. The best condition for minimizing the tracking error with the least impulse input at each joint is investigated by considering one design and one operating parameter. The first was the damping in the system, and the second was the sampling time during operation. The results show that this approach can provide useful guidance for the design and control of robot manipulators that require minimum impulse feedback for accurate tracking.

• International Journal of Precision Engineering and Manufacturing
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• v.7 no.4
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• pp.51-56
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• 2006

This paper proposes a control algorithm, which is verified experimentally, for aspherical surface grinding and polishing. The algorithm provides simultaneous control of the position and interpolation of an aspheric curve. The nonlinear formula for the tool position was derived from the aspheric equation and the shape of the tool. The function was partitioned at specific intervals and the control parameters were calculated at each control section. The position, acceleration, and velocity at each interval were updated during the process. A position error feedback was introduced using a rotary encoder. The feedback algorithm corrected the position error by increasing or decreasing the feed speed. In the experimental verification, a two-axis machine was controlled to track an aspherical surface using the proposed algorithm. The effects of the control and process parameters were monitored. The results demonstrated that the maximum tracking error with tuned parameters was at the submicron level for concave and convex surfaces.

• 연구논문집
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• s.30
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• pp.79-92
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• 2000

Chopper and sensors failures resulting from electric shock and mechanical vibration generated by rail irregularities are the serious problem deteriorating the performance in the electromagnetic suspension systems. Thus, this paper proposes a reliable output feedback control scheme for the electromagnetic suspension systems in the present of chopper, gap sensor and acceleration sensor failures. The designed controller is an extended version of a novel design technique which has the design method of the output feedback controller using dynamic compensator. The benefits of this scheme are demonstrated through the simulation and experimental results for proposed controller against chopper, gap sensor and acceleration sensor failures of electromagnetic suspension system.

• Journal of the Korean Society of Safety
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• v.26 no.6
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• pp.1-6
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• 2011

This study focuses on the control strategy for industrial safety in Korea. Specifically, the effect of safety budget such as the industrial accident prevention fund on the safety performance to prevent and reduce industrial accidents is statistically examined first and modeled as a second order system. The effectiveness of such a dynamic model is also explained with a simple PI control mechanism in a feedback loop. The simulated model, however, suggests that, without improving the efficiency of the safety system, extra safety budget needed to decrease the accident rate to a level in advanced countries is far beyond the social consensus. An efficient way of reducing industrial accidents based on such a dynamic model with more internal damping but with less elastic nature in a feedback loop framework needs to be implemented.