• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1404-1409
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• 2003

The sway control problem of the pendulum motion of the container crane hanging on the trolley, which transports containers from the container ship to the truck, is considered in this paper. In the container crane control problem, the main issue is to suppress the residual swing motion of the container at the end of the acceleration, deceleration or the case of that the unexpected disturbance input exists. For this problem, in general, the trolley motion control strategy is introduced and applied to real plants. In this paper, we suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope varies is we design the anti-sway control system based on LMI(linear matrix inequality) approach. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulation and experimental studies.

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

• 동력기계공학회지
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• 제11권4호
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• pp.103-108
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• 2007

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. The measuring system is based on laser sensor or others. However it is not so useful in real world. Especially, in this paper, the image sensor is used to measures the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method which is named Vector Code Correlation (VCC) and devised to consider the real environmental conditions. And the $H_{\infty}$ based control technique is applied to suppress swing motion of the crane. And the experimental result shows that the proposed measurement system based on image sensor and control system is useful and robust to disturbances.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.119-128
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• 2015

In this paper, we propose a new motion control technology to design robust control system of industrial robot. The system modeling of robotic manipulation tasks with constraints is presented, and the control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference of robot manipulator is generated by the reference controller as a discrete state system and the control behavior of constrained system which has poor modeling information and time-invariant constraint function is improved motion control system is successfully evaluated by experiment to the desired tasks.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.399.2-399
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• 2002

This paper concerns on a non-rotating single-DOF beam-active magnetic bearing(AMB) system subject to arbitrary shaped base motion. In such a system, it is desirable to retain the beam within the predetermined air-gap under foundation excitation. Motivated form this, an adaptive acceleration feedforward control is proposed to reduce the base motion response without deteriorating other feedback control performances. Experimental results demonstrate the effectiveness of the acceleration feedforward control.

• 대한인간공학회지
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• 제9권2호
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• pp.21-28
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• 1990

The robot motion control in the industrial robot is generally executed by the teach pendant. But, it requires much teaching time and workload to the operators. This study suggests the use of the robot motion control method by the computed keyboard in the industrial robot instead of the teach pendant. TES/CCS(Teaching Expert System/Cartesian Coordinate System) and TES/WCS(Teaching Expert System/World Coordinate System) that have been proposed to improve the robot motion control are applied for this concept. This study is intended to improve the robot motion control in TES/CCS. Parameter limitation problems in getting the motion data on position and posture of the robot in macro motion control are solved by proposed geometric algorithm. This result demonstrates reduction of the average teaching task time to the teaching position.

• Earthquakes and Structures
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• 제22권1호
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• pp.53-64
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• 2022

This study proposes an intelligent semi-active isolation system combining a variable-stiffness control device and ground motion characteristic prediction. To determine the optimal control parameter in real-time, a genetic algorithm (GA)-fuzzy control law was developed in this study. Data on various types of ground motions were collected, and the ground motion characteristics were quantified to derive a near-fault (NF) characteristic ratio by employing an on-site earthquake early warning system. On the basis of the peak ground acceleration (PGA) and the derived NF ratio, a fuzzy inference system (FIS) was developed. The control parameters were optimized using a GA. To support continuity under near-fault and far-field ground motions, the optimal control parameter was linked with the predicted PGA and NF ratio through the FIS. The GA-fuzzy law was then compared with other control laws to verify its effectiveness. The results revealed that the GA-fuzzy control law could reliably predict different ground motion characteristics for real-time control because of the high sensitivity of its control parameter to the ground motion characteristics. Even under near-fault and far-field ground motions, the GA-fuzzy control law outperformed the FPEEA control law in terms of controlling the isolation layer displacement and the superstructure acceleration.

• 수산해양기술연구
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• 제55권2호
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• pp.172-180
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• 2019

In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to testing ships. Recently, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement and started to test autonomous ships in the defined area. Considering recent technology trends and background, in this paper, the authors also try to develop autonomous ship control technologies. In the designed control system, an observer is introduced to estimate unmeasurable system states. Based on the servosystem with state estimator, ship motion control experiment is performed to evaluate control performance using a model ship in water basin.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2000년도 전력전자학술대회 논문집
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• pp.615-619
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• 2000

This paper presents an implementation of digital motion control system of Surface Permanent-Magnet Synchronous Motor(SPMSM) vector drives with a direct torque control(DTC) using the 16bit DSP TMS320F240 The DSP controller enable enhanced real time algorithm and cost-effective design of intelligent control for motors which can be yield enhanced operation fewer system components lower system cost increased efficiency and high performance The system presented are stator flux and torque observer of stator flux feedback model that inputs are current and voltage sensing of motor terminal and angle for a low speed operating area two hysteresis band controllers an optimal switching look-up table and IGBT voltage source inverter by using fully integrated control software. The developed control system are shown a good motion control response characteristic results and high performance features using 1.0Kw purposed servo drive SPMSM.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2009년도 춘계학술대회
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• pp.627-630
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• 2009

해상용 Multi Sensor Surveillance System은 다양한 기술의 복합체로서 본 과제에서 개발하고자하는 Gyro Sensor based Servo Motion Control 알고리즘은 선박의 6자유도운동을 분석하여 그에 대응할 수 있는 Motion Control 동요안정화제어장치를 개발하는 것이며, Nano Driving Precision Pan-Tilt/Gimbal System은 초정밀 초고속으로 감시용 디바이스를 적시에 정확한 동작을 수행하게 해주는 필수적인 장비이다. 최종적으로 개발하고자 하는 분야는 해상용 Nano Driving Multi Sensor Surveillance System 중 Nano Driving Precision Pan-Tilt/Gimbal의 최적설계 및 제작, 3-axis Gyro Sensor based Servo Motion Control 알고리즘 개발, 영상추적 Video Tracking Software 및 Hardware의 개발 및 각 세부주관에서 개발한 각각의 장비를 하나의 시스템으로 통합하는 시스템 Integration 및 시험인증으로 하나의 시스템을 완성 하였다.