• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
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• pp.552-554
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• 1987

A design principles of discontinuous control are studied and then are applied to position control of D. C. sevo drive fed by a four-quadrant chopper. Variable structure control with sliding mode gives fast dynamic response with no overshoot. And the resulting system bas good robust properties independent of the wide variations of electrical, mechanical parameters and external disturbances without any system identification. But the high frequency chatter component of control input in the sliding mode is undesirarable. A continuous control law that is a approximation to discontinuous control law is used for design.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.566-572
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• 2011

In recent semiconductor and FPD (Flat Panel Display) manufacturing processes, high clean-class delivery operation is required more and more for short working time and better product quality. Traditionally SLIM (Single-sided Linear Induction Motor) is widely used in the liner drive applications because of its simplicity in the rail structure. A magnetically levitated (Maglev) unmanned vehicle with SLIM traction, which is powered by a CPS (Contactless Power Supply) can be a high precision delivery solution for this industry. In this paper unmanned FPD-carrying vehicle, which can levitate without contacting the rail structure, is suggested for high clean-class FPD delivery applications. It can be more acceptable for the complex facilities composed with many processes which require longer rails, because of simple rail structure. The test setup consists of a test vehicle and a rounded rail, in which the vehicle can load and unload products at arbitrary position commanded through wireless communications of host computer. The experimental results show that the suggested vehicle and rail have reasonable traction servo and robust electromagnetic suspensions without any contact. The resolution of point servo errors in the SLIM traction system is accomplished under 1mm. The maximum gap error is ${\pm}0.25mm$ with nominal air gap length of 4.0mm in the electromagnetic suspensions. This type of automated delivery vehicle is expected to have significant role in the clean delivery like FPD glass delivery.

• 대한기계학회논문집A
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• 제20권10호
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• pp.3186-3198
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• 1996

When a robot is to have contact with its enviornment, such as a medi-care robot, it would be advantageous for the robot to have a high compliance. For this reason, a robot having not only a flexible link but also an actuator with compliance, is desirable. This paper is concerned with the position and vibration control of 1 degree of freedom flexible robot using a pneumatic artificial muscle actuator. The dynamics of the manipulator assumed to be and Euler-Bernoulli beam are derived on the basis of the linear mathematical modle. Although this pneumatic artifical muscle actuator has many merits for the compliance robot, it is difficult to make an effective control scheme of this system because of ths nonlinearity and uncertainty on the dynamics of the actuator. By designing a controller using .mu.-synthesis, robust performance against measurement noise, various modeling uncertainties on the dynamics of the servo valve, actuator and mainpulator, is achieved. The effectiveness of the proposed control method is illustrated through simulations and experiments.

• 한국정밀공학회지
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• 제27권3호
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• pp.41-49
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• 2010

Two promising control candidates have been selected to test the sinusoidal reference tracking performance for a brush-type polishing machine having strong nonlinearities and disturbances. The controlled target system is an oscillating mechanism consisting of a common positioning stage of one degree-of-freedom with a screw and a ball nut driven by a servo motor those can be obtained commercially. Beside the strong nonlinearity such as stick-slip friction, the periodic contact of the polishing brush and the work piece adds an external disturbance. Selected control candidates are a Sliding Mode Control (SMC) and a variant of a feedback linearization control called Smooth Robust Nonlinear Control (SRNC). A SMC and SRNC are selected since they have good theoretical backgrounds, are suitable to be implemented in a digital environment and show good disturbance and modeling uncertainty rejection performance. It should be also noted that SRNC has a nobel approach in that it uses the position information to compensate the stickslip friction. For both controllers analytical and experimental studies have been conducted to show control design approaches and to compare the performance against the strong nonlinearity and the disturbances.

• 융합신호처리학회논문지
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• 제2권3호
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• pp.65-72
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• 2001

일반적으로 관성시스템의 제어 문제는 결국, 시스템 자체에서 발생하는 진동을 최대한 억제하면서 빠른 시간에 출력이 기준입력을 추종하는데 있다. 이 경우 문제로 되는 것은 시스템의 모델링 과정에서 발생하는 플랜트의 불확실성과 parameter 변동이다. 여기서는 일반적인 강인한 제어기 설계 이론의 하나인 H$_{*}$ 이론이 가지는 단점인 제어기의 보수성을 극복하면서, 동시에 출력의 과도응답특성을 개선하기 위한 방법으로 H$_2$이론을 병용하고 이를 LMI 이론으로 해석하였다. 이 과정에서 3 관성시스템에 LMI 이론을 적용하기 위한 일반화플랜트의 모형을 제시하고 이것의 유효성을, 모델의 불화실성과 parameter변동을 동시에 고려한 simulation을 통하여 확인하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제27권3호
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• pp.412-420
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• 2003

This study describes the merits of PWM control of hydraulic system using high speed on-off valves. Generally, Electro-hydraulic valves can be classified into two classification: valves which are controlled by analog signal and which are controlled by digital. The former includes hydraulic servo valves and proportional valves which require A/D converters as interface to digital computer and too costly and sensitive to oil contamination because of complexity in structures. The latter includes high speed on-off valves which do not require A/D converters because they are normally operated in a pulse width modulation(PWM) method, and are low in price and robust to oil contamination because of their simple structures. The objectives of this study is to analyze the limit cycle which regularly appear in the position control system using 2/2way high speed on-off valves and to give a criterion for the stability of this system. The nonlinear characteristics of PWM and cylinder friction of this system are described by harmonic linearization and the effects of parameter variations to the system stability are simulated.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제4B권2호
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• pp.59-64
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• 2004

Study of an accurate and robust braking control method is required as a technical improvement to the servo system. In particular, the braker exhibiting constant braking performance under speed variation conditions of the prime mover needs to be investigated. In this paper, the braking torque of the eddy current braker between the electromagnet stator and rotating disk is analyzed. The torque-speed characteristics and accurate disk construction are represented. From the computer simulation results, it was found that eddy current braking torque is linear or approximately constant over the desired speed range depending on the rotor material, disk construction, pole number and pole displacement of the stator. These relations are confirmed by experimental results.

• 대한전기학회논문지
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• 제41권2호
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• pp.135-143
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• 1992

A novel sliding mode control with disturbance observer for position control of DC servo motor is presented. The conventional sliding mode controller changes the control structure depending on the state of switching surface and consequently, the control law is discontinuous and theoretically chatters at an infinite frequency. To overcome this problem in view of the practical implementation, the disturbance observer is used to compensate the effects of the parameter variations and the load disturvances. We can obtain the performance predetermined by the switching surface with continuous control law while the controlled system remains robust. The performance of the proposed controller with that of the conventional sliding mode controller through digital computer simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1445-1449
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• 1996

To evaluate of active suspension, it is necessary for special equipment - so called Test Rig which can perfectly realize the road condition and the impact from the road. And most of the test rig systems controlling force accurately and rapidly consist of electro-hydraulic servo mechanism, and they need robust controller which can endure outer road change. But in the case of PID controller, we should choose its best gains by trial and error method, and once its gains are fixed, they cannot get changed, so we should reset PID controller gains respectively when the road is changed. Therefore based on the load pressure feedback compensation method, our aim at constructing electro-hydraulic test rig is not affected by various road disturbance.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2002년도 전력전자학술대회 논문집
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• pp.170-173
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• 2002

시스템이 슬라이딩모드의 존재조건을 만족하는 경우, 전동기의 상태가 전동기의 파라미터에 의존하지 않고 결정되는 절환 초평면에 수렴하기 때문에 파라미터에 불감한 응답을 나타낸다. 본 연구는 소형 유도전동기에 의한 외란 및 파라미터의 변동에 대하여 로바스트(robust)와 동시에 정확한 응답을 나타내는 교류서보 전동기 구동시스템을 실현하는 것이다. 이를 실현하기 위해서 가변구조 제어이론에 기초한 슬라이딩모드 제어를 적용하여 유도전동기 자계 슬립주파수형 벡터제어를 실현한다. 이상적인 전동기에 대한 시뮬레이션의 결과에 의해서 관성, 점성마찰계수, 부하 토오크 등 의 파라미터의 변동 및 외란에 대하여 로바스터성이 있다는 것을 알 수 있고 슬라이딩모드 제어의 도입이 교류전동기 서보제어에 유효한 것을 확인하였다.