• 제어로봇시스템학회논문지
• /
• 제6권10호
• /
• pp.871-880
• /
• 2000

A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제10권1호
• /
• pp.25-30
• /
• 2010

This paper is proposed about three axis motion control camera design method based on wires. Original motion control camera consists of track, boom, L-Head, Camera and so on and is enormous and expensive. But proposed motion control camera adjusts wire length using encoders and motors. And position control use position based straight line of straight-line move method for moving precise position. Proposed simple design is able to use various place and inexpensive than original motion control camera. But, camera was vibrated and rotated due to basic property of wire. So we proposed solutions that connected method of wire and using a tensional object for reducing rotation. For proposed algorithm verification, we realized three axis motion control camera based on wire and measured oscillation while moving same trace. We confirmed the results that standard deviation of oscillation was reduced 4.93 degree than before design method.

• 한국정밀공학회지
• /
• 제18권7호
• /
• pp.53-64
• /
• 2001

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper the sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But, in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• International Journal of Precision Engineering and Manufacturing
• /
• 제2권4호
• /
• pp.61-68
• /
• 2001

A new approach for motion control of constrained mechanical systems is proposed in this paper. The approach uses a new equations of motion which is proposed by Udwadia and Kalaba and named Udwadia-Kalaba's equations of motion in this paper. This paper reveals that the Udwadia-Kalaba's equations of motion is more adequate to model constrained mechanical systems rather than the famous Lagrange's equations of motion at least for control purpose. The proposed approach coverts most of constraints including holonomic and nonholonomic constraints. Comparison of simulation results of two systems which are well-known in the literature show the superiority of the proposed approach. Furthermore, a special constrained mechanical system which includes nonlinear generalized velocities in its constraint equations, which has been considered to be difficult to control, can be controlled easily. It shows the possibility of the proposed approach to being a general framework for motion control of constrained mechanical systems with various kinds of constraints.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2010년도 춘계학술대회
• /
• pp.725-727
• /
• 2010

선박의 운동을 시뮬레이터 하기 위해서는 Pitch, Roll, Yaw의 세가지 선박 운동 요소를 시뮬레이터 할 수 있어야 한다. 이를 위해 선박의 운동을 시뮬레이터 할 수 있는 6축의 자유도를 가지는 모션 시뮬레이터를 설계 개발 하였다. Gyro Sensor based Servo Motion Control 알고리즘은 선박의 6자유도운동을 분석하여 그에 대응 할 수 있는 Motion Control 동요안정화 제어장치를 개발하였다.

• 한국해양공학회지
• /
• 제14권4호
• /
• pp.35-42
• /
• 2000

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying intertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the LMI approach and simultaneous optimization design method to design the anti-swing motion control system for the controlled plant. And the simulation result shows that the proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.

• 제어로봇시스템학회논문지
• /
• 제7권7호
• /
• pp.559-566
• /
• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• 대한인간공학회지
• /
• 제8권1호
• /
• pp.41-46
• /
• 1989

The purpose of this study is to improve robot motion control in teaching and operating the expert system/world coordinate system (TOES/WCS) constructed in the previous study. The major contribution of this study is reduction of the inaccuracy in coordinated reading and the movement time of robots in macro motion control. This study also reduces undesirable time of micro motion control by using an unit control (UC) and a micro unit control (MUC) in micro motion control.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 하계학술대회 논문집 G
• /
• pp.2348-2350
• /
• 1998

The hybrid control system for a wheeled mobile robot with nonholonomic constraints to perform a cluttered environment maneuver is proposed. The proposed hybrid control system consists of a continuous state system for the trajectory control, a discrete state system for the motion and orientation control, and an interface control system for the interaction process between the continuous dynamics and the discrete dynamics The continuous control systems are modeled by the switched systems with the control of driving wheels, and the digital automata for motion control are modeled and implemented by the abstracted motion of mobile robot. The motion control tasks such as path generation, motion planning, and trajectory control for a cluttered environment are investigated as the applications by simulation studies.

• 한국항공우주학회지
• /
• 제39권2호
• /
• pp.137-143
• /
• 2011

중력구배 인공위성의 pitch 운동이 관성 모멘트 비와 편심율에 따라 혼돈계가 될 수 있다. 혼돈계의 경우 운동의 정확한 예측을 위하여 비혼돈계로 전환하는 혼돈계 제어가 필요하다. 혼돈계 제어에는 feedback control system을 사용할 수 있다. 중력구배 인공위성의 pitch 운동의 혼돈계 제어를 위하여, 비선형 pitch 운동 방정식을 선형화를 하여 linear nonautonomous system을 구하고, 이를 근거로 pitch 운동의 혼돈계 제어와 안정화(stabilization)를 위한 제어법칙을 설계하고 원래의 비선형 혼돈계 pitch 운동에 적용하였다. 설계된 pitch 운동 제어계는 두 개의 parameter를 가지는데, 혼돈계 제어와 안정화에 만족할 만한 결과를 보여주었다.