• 제목/요약/키워드: robust actuator

검색결과 235건 처리시간 0.024초

로프 길이변화를 고려한 크레인의 흔들림 제어에 관한 연구: Gain-Scheduling 기법에 의한 제어기 설계 (A Study on the Sway Control of a Container Crane with Varying Rope Length Based on Gain-Scheduling Approach)

  • 김영완;김영복
    • 동력기계공학회지
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    • 제8권3호
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    • pp.58-66
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    • 2004
  • The sway motion control problem of a container hanging on the trolly 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, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway 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 to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

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로프 길이 변화를 고려한 크레인의 흔들림 제어에 관한 연구;Gain-Scheduling 기법에 의한 제어기 설계 (A Study on the Sway Control of a Container Crane with Varying Rope Length Based on Gain-Scheduling Approach)

  • 김영완;김영복
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2004년도 추계학술대회
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    • pp.631-636
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    • 2004
  • The sway motion control problem of a container hanging on the trolly 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, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway 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 experiment 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.

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정합 조건이 만족되지 않는 불확실한 다변수 계통에 대한 슬라이딩 모드 제어기의 설계 (Design of Sliding Mode Controller for Uncertain Multivariable Systems in the absence of Structure Matching Conditions)

  • 박귀태;김동식;임성준;서호준
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1991년도 하계학술대회 논문집
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    • pp.670-677
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    • 1991
  • All models of dynamical systems invariably have some measure of uncertainties associated with some of their dynamics. The recent approaches to establish robustness of stabilizing feedback control against the possible uncertainties have a serious limitation, that is, their applicability only to the systems that satisfy the matching conditions. Such conditions are rarely met in general applications. If a particular system satisfies the matching conditions, the addition of an actuator will destroy the satisfaction of such conditions. In this paper, we develop robust control algorithm for uncertain multivariable systems in which the matching conditions are not necessarily met. In order to eliminate an influence over partial state variables due to unknown constant disturbances we perform the appropriate block-decomposition for a given system. Functional observers are introduced to estimate the unknown constant disturbances. The sliding mode controller is designed in such a way that the partial state variables in the state-space are directed towards switching surfaces and regulated to the origin asymptotically. Numerical examples are discussed as illustrations.

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공압 구동식 로봇 손을 위한 소형 4/3-way 비례제어 밸브의 설계 및 실험 (Design and Experiment of a Miniature 4/3-Way Proportional Valve for a Servo-Pneumatic Robot Hand)

  • 류시복;홍예선
    • 한국정밀공학회지
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    • 제15권12호
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    • pp.142-147
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    • 1998
  • Developing robot hands with multi-degree-of-freedom is one of the topics that researchers have recently begun to improve the limitation by adding flexibility and dexterity. In this study, an articulated servo-pneumatic robot hand system with direct-drive joints has been developed whose main feature is the minimization of the dimension. The servo-pneumatic system is advantageous to fabricate a dexterous robot hand system due to the high torque-to-weight and torque-to-volume ratio. This enables the design of a finger joint with an integrated rotary vane type actuator which produces high output torque without reduction gears, being very robust. In order to control the servo-pneumatic finger joints, a miniature proportional valve that can be attached to the robot hand is required. In this paper, a flapper nozzle type 4/3-way proportional directional valve has been designed and tested. The experimental results show that the developed valve can control a finger joint satisfactorily without much vibratory joint movements and acoustic noises.

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Gain-Scheduling 기법을 이용한 크레인의 흔들림 제어에 관한 연구 (A Study on the Sway Control of a Crane Based on Gain-Scheduling Approach)

  • 김영복
    • 한국정밀공학회지
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    • 제18권7호
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    • pp.53-64
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    • 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.

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QFT 를 이용한 유압 로드 시뮬레이터에 관한 힘 제어계 설계 (Design of Force Control System for a Hydraulic Road Simulator using QFT)

  • 김진완;현동길;남양해;김영배
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2007년도 춘계학술대회A
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    • pp.1109-1114
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    • 2007
  • This paper presents the road simulator control technology for reproducing the road input signal to implement the real road data. The simulator consists of the hydraulic pump, servo valve, hydraulic actuator and its control equipment. The QFT is utilized to control the simulator effectively. The control system illustrates a tracking performance of the closed-loop controller with low order transfer function G(s) and pre-filter F(s) for a parametric uncertain model. A force controller is designed to communicate the control signal between simulator and digital controller. The efficacy of the QFT force controller is verified through the numerical simulation, in which combined dynamics and actuation of the hydraulic servo system are tested. The simulation results show that the proposed control technique works well under uncertain hydraulic plant system. The conventional software (Labview) is used to make up for the real controller in the real-time basis, and the experimental works show that the proposed algorithm works well for a single road simulator.

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정량적 피드백 이론을 이용한 유압 로드 시뮬레이터에 관한 힘 제어계 설계 (Design of Force Control System for a Hydraulic Road Simulator Using Quantitative Feedback Theory)

  • 김진완;현동길;김영배
    • 대한기계학회논문집A
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    • 제31권11호
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    • pp.1069-1076
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    • 2007
  • This paper presents the road simulator control technology for reproducing the road input signal to implement the real road data. The simulator consists of the hydraulic pump, servo valve, hydraulic actuator and its control equipment. The QFT(Quantitative Feedback Theory) is utilized to control the simulator effectively. The control system illustrates a tracking performance of the closed-loop controller with low order transfer function G(s) and pre-filter F(s) for a parametric uncertain model. A force controller is designed to communicate the control signal between simulator and digital controller. Tracking specification is satisfied with upper and lower bound tolerances on the steep response of the system to the reference signal. The efficacy of the QFT force controller is verified through the numerical simulation, in which combined dynamics and actuation of the hydraulic servo system are tested. The simulation results show that the proposed control technique works well under uncertain hydraulic plant system. The conventional software (Labview) is used to make up for the real controller in the real-time basis, and the experimental works show that the proposed algorithm works well for a single road simulator.

주파수 의존형 최적 레귤이터에 의한 크레인 흔들림 제어계 설계 (Swing Motion Control System Design Based on Frequency-shaped LQ Control)

  • 김영복;장지성
    • 동력기계공학회지
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    • 제12권6호
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    • pp.50-55
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    • 2008
  • 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. Futhermore the measuring systems based on image sensor have been proposed also. To obtain the robustness for our control system, $H_{\infty}$ based control techniques and other approach have been applied to suppress swing motion. As well known, the robust control technologies based on $H_{\infty}$ control need complicated and difficult process. In the result, the obtained closed-loop system becomes to high order system which may give us many difficulties to apply it to the real plants. Therefore, we introduce an easy approach which is based on LQ control theory. In this approach, we introduce the frequency dependent weighting matrices which give the system filters to shape frequency characteristics of the controlled system and guarantee the control performance.

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자기구성 퍼지제어에 의한 8축 로봇의 강인제어 (Robust Control of Dual Arm Robot with Eight Joint Based-on Self-Organization Fuzzy Control)

  • 신행봉;김종수;김홍래;한성현
    • 한국공작기계학회:학술대회논문집
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    • 한국공작기계학회 2004년도 추계학술대회 논문집
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    • pp.187-192
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    • 2004
  • In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

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듀얼 스테이지 서보 시스템을 이용한 영상 추적장치의 안정화 제어 (Dual Stage Servo Controller for Image Tracking System)

  • 최영준;강민식;유건환;이승현
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2006년도 춘계학술대회 논문집
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    • pp.45-46
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    • 2006
  • In this paper, a dual stage servo mechanism has been developed for image tracking system to improve transient control performances such as small rise time, small overshoot, small settling time, etc. A secondary stage, a platform, actuated by a pair of electro-magnets is mounted on a conventional elevation gimbal. In this mechanism, the gimbal provides large range but slow motion and the platform provides small range but fast positioning. A sliding mode control is applied to the platform positioning to attain robust performances and stability in the presence of the disturbance related to dynamic coupling of the gimbal and the platform. Results from experiments illustrate that the suggested dual stage mechanism controlled by the sliding mode control is effective in improving transient responses and attenuating the disturbance related with dynamic coupling.

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