• 한국자동차공학회논문집
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• 제4권2호
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• pp.1-10
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• 1996

The objective of this paper is to develop a motion base for the vehicle driving simulator. Kinematic analysis are carried out to obtain maximum strokes and velocities of hydraulic actuators. Hydraulic control forces of the actuators are estimated by inverse dynamic analysis. Finally, an optimal design is performed to find attachment points of the actuators so that control forces are minimized. A control logic for the motion base is developed to make the motion base follow the given reference signals. The control logic is implemented on a digital signal processor(DSP) board.

• 제어로봇시스템학회논문지
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• 제3권5호
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• pp.476-481
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• 1997

본 논문에서는 비구동 관절을 가지는 2링크 매니퓰레이터의 동력학 해석과 운동제어를 제1적분을 기초로 하여 전개하고 있다. 매니퓰레이터의 운동이 제1적분의 적분상수에 의해서 기술되는 것을 보이고, 제1적분을 이용하여 매니퓰레이터의 동력학을 해석하고 있다. 그리고 해석된 동력학을 적극적으로 이용하는 운동제어 알고리즘을 구성하고 시뮬레이션을 통하여 확인하고 있다. 끝으로 비구동 관절에 마찰이 작용하는 경우, 브레이크등의 보조수단을 이용하지 않고도 매니퓰레이터의 제어가 가능함을 보이고 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.466-471
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• 1994

To make a dynamic system a given desired motion trajectory, a new feedback error learning scheme is proposed which is based on the repeatability of dynamic system motion. This method is composed of feedforward and feedback control laws. A benefit of this control scheme is that the input pattern that generates the desired motion can be formed without estimating the physical parameters of system dynamics. The numerical simulations show the good performance of the proposed scheme

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제48권5호
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• pp.241-248
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• 1999

Recently, many linear motion generators and motors are rapidly finding applications that ranges from short stroke linear motion vibrators, such as dynamic cone type loudspeakers to stirling engine driven linear reciprocating alternators, compressors, textile machines etc. The stroke-length may go up to 2m, and the maximum speed is in the range of 5 to 10m/s with oscillating frequency as high as 15 kHz. Therefore, the linear oscillating actuators(LOAs) may be considered as variable speed drivers of precise controller with stoke-length and reversal periods during the reciprocating motion. In this paper, the design, fabrication, experiments, and extraction of control parameters of a moving coil type LOA for driving of linear reciprocating motion control systems, are treated. The actuator consists of the NdFeB permanent magnets with high specific energy as the stator produced magnetic field, a coil-wrapped nonmagnetic hollow rectangular bobbin structure, and an iron core as a pathway for magnetic flux. Actually, the design is accomplished by using FEM analysis for the basic configuration of a magnetic circuit, and characteristic equations for coil design. In order to apply as the drivers of a linear motion reciprocating control system, the control parameters and circuit parameters, such as input voltage-stoke, exciting frequency-stoke, coil inductance and so on, are extracted from the analysis and experiments on concerning a fabricating LOA.

• 드라이브 ㆍ 컨트롤
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• 제12권3호
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• pp.1-10
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• 2015

In this paper, the authors propose a method to easily recognize and reproduce the robot motion made by an operator. This method is targets for applications similar to painting and welding, and it is based on a process of that identifies a family of plants, by control design and by conducting an experimental evaluation. In this study, the models and controllers for all joints of 3DOF robot system are obtained individually. And a robust control system for motion control of the individual joints is designed based on $H_{\infty}$ control framework. An experimental comparison is made between the proposed control method and existing PID control method. And the results indicate that the proposed designing method is more efficient and useful than conventional method.

• 한국산업융합학회 논문집
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• 제22권6호
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• pp.807-819
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• 2019

In this paper, it is proposed a new approach to motion control and kinematics analysis of articulated manipulator attachment with five degree of freedom for excavator. Unlike the well-established theory for the control of linear systems, there is little general control theory relatively for a robust control of nonlinear systems. The control technique is essential for providing a stable and robust performance for application of articulated manipulator control. The proposed control algorithm is one of robust control methods based on error informations of the position and velocity error informations using stability analysis of dynamic model. Through simulation test, the proposed control scheme is illustrated to be a efficient control technique for real-time control.

• 한국지능시스템학회논문지
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• 제25권2호
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• pp.168-173
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• 2015

비행 시 외부 조건에 따라 비선형시변 동적특성을 갖는 항공기의 비행제어는 종 제어(longitudinal control)와 횡 제어(lateral control)로 나눌 수 있으며, 종 제어는 승강키(elevator)에 의한 피치(pitch)값, 횡 제어는 에일러론(aileron)에 의한 롤(roll)값과 방향키(rudder)에 의한 요(yaw)값들을 제어대상으로 삼는다. 현재까지 항공기의 안정성, 조종성 그리고 기동성을 보장하기 위한 제어시스템 개발에 많은 연구들이 활발히 진행되어 왔으나, 최근에는 다양하고 복잡한 풍동실험과 환경실험들을 필요로 하는 기존연구들과는 다른 항공기의 지능제어시스템 개발에 관련된 연구들이 이루어지고 있다. 본 논문은 대표적인 지능제어방식인 Interval Type-2 퍼지논리기법에 의한 항공기 종 제어시스템을 제시하고 F-4 제트전투기의 컴퓨터 모의실험을 통해 그 효용성을 입증한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1245-1248
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• 2004

This paper presents a new technique to analyze data on the coordinate x, y, z and apply these data to design the motion control to improve the efficiency of the engraving machine so that it can engrave accordingly in 3 dimensions. First, the tool path on the x-y plane is analyzed to be synchronized with the z-axis. The digital data is then sent to the motion control to guide the movement of the engrave point on the x-y plane. Tool path moves along the x-axis with zero degree and different values of the y-axis according to the coordinate of the digital data and the analysis along z-axis to determine the depth for engraving. The depth can be specified from the gray level with the 256 levels of resolution. The data obtained includes the distances on x-axis, y-axis, and z-axis, the acceleration of the engrave point's movement, and the speed of the engrave point's movement. These data is then transfered to the motion control to guide the movement of the engrave point along the z-axis associated with the x-y plane. The results indicate that engraving using this technique is fast and continuous. The specimen obtained looks perfect in 3D view.

• 한국군사과학기술학회지
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• 제22권5호
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• pp.674-686
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• 2019

In this paper, we will discuss the absolute angular error control mode for the Gun/Turret driving system. The Gun/Turret driving controller receives absolute angular error calculated from the fire control system (FCS). Thus, the Gun/Turret driving controller is subjected to step command to cause residual vibration and system unstable. In order to reduce residual vibration and to ensure the system stability, we propose an error motion profile method with two types of trapezoidal and S-Curve. The validity of the proposed error motion profile method is confirmed via simulation by observing that the resulting position error, driving power, and power density satisfied the control performance.

• International Journal of Control, Automation, and Systems
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• 제4권6호
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• pp.725-735
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• 2006

This paper deals with the problem of self-learning cooperative motion control for the pushing task of a humanoid robot in the sagittal plane. A model with 27 linked rigid bodies is developed to simulate the system dynamics. A simple genetic algorithm(SGA) is used to find the cooperative motion, which is to minimize the total energy consumption for the entire humanoid robot body. And the multi-layer neural network based on backpropagation(BP) is also constructed and applied to generalize parameters, which are obtained from the optimization procedure by SGA, in order to control the system.