• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.2
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• pp.90-96
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• 2005

This paper presents hardware scheme of fuzzy inference engine, based on α-level set decomposition of fuzzy sets for fuzzy control of DC servo system. We propose a method which is directly converted to PWM actuating signal by a one body of fuzzy inference and defuzzification. The influence of quantity α-levels on input/output characteristics of fuzzy controller and output response of DC servo system is investigated. It is concluded that quantity α-cut 4 give a sufficient result for fuzzy control performance of DC servo system. The experimental results shows that the proposed hardware method is effective for practical applications of DC servo system.

• Transactions of the Society of Information Storage Systems
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• v.3 no.1
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• pp.13-16
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• 2007

The purpose of this paper is real time tilt servo control of the holographic data storage system. Holographic data storage device is a next generation data storage device with high storage density, high transfer rate and short access time. This device is very sensitive to a disturbance due to the enormous storage density. As to the recording material changed disc type, the media continuously vibrates as the disc rotates. When disc rotates, deviation, eccentricity and unbalance disturbance are occurred. This disturbances cause disc tilt, finally reference beam does not illuminates to correct incidence angle. Therefore real time tilt servo control is essential. In this paper, the algorithm is proposed to make real time tilt detection in angle multiplexing of the holographic data storage system with an additional servo beam and the experiments are performed.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.56 no.3
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• pp.129-135
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• 2007

This paper deals with speed-sensorless control of DC servo motor using Neuro-Fuzzy Observer. DC servo motor has very low rotor inertia and excellent response characteristic and it is very useful to control torque and speed. It is easy to detect the voltage and current and resolver or encoder is used to measure a rotor speed. But it has a limit as a driving speed to detect speed precisely. So it is problem to improve the performance of the driving system. To solve this problem, it is studied to detect a speed of DC servo motor without sensor. In particular, study on the method to estimate the speed using the observer is performed a lot. In this paper, the gain of the observer is properly set up using the Neuro-Fuzzy control and Neuro-Fuzzy Observer that have a superior transient characteristic and is easy to implement compared the existing method is designed. It calculates the differentiation of the rotor current directly using the rotor current measured in the DC servo motor and estimates the speed of the rotor using the differentiation. Proposed speed sensorless control method is performed using the estimated speed. Also, it is proved feasibility of the proposed observer from the comparison tested a case with a speed sensor and a case without a speed sensor which used a highly efficient drive and 200[w] DC servo motor starting system.

• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.234-242
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• 2007

A Concurrent Relay-PID controller (CRPID) for motor position servo systems is proposed in this paper. The proposed controller is composed of a deadband-relay subcontroller and a parallel PID subcontroller. The deadband-relay subcontroller is capable of improving the transient system performance while the PID subcontroller is responsible for near steady state system regulation. Systematic design methods for various controller components are developed. Design procedures are illustrated by an example. The proposed hybrid scheme is applied to a DC motor position servo system. Both numerical and experimental results demonstrate that the proposed controller performs satisfactorily and is superior to PID control alone.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.52 no.2
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• pp.74-80
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• 2003

In this paper, a robust two-degree-of-freedom(TDF) the speed control system using $H_{\infty}$ optimization method and real genetic algorithm is proposed for the robust stability and the robust performance in dc servo motor system. This control system composed of feedback and feedforward controller. The feedback(FB) controller with $H_{\infty}$ optimization method is designed for real genetic algorithm that is model matching problem using mixed sensitivity function. The feedforward(FF) controller with $H_{\infty}$optimization method is minimized the error between transfer function of the optimal model and the overall transfer function. The proposed robust two-degree-of-freedom speed control system is simulated to the dc servo motor. By the simulation, feedback controller can obtain the robust stability property and feedforward controller can obtain the robust performance property under modelling error. The performance of the dc servo motor is analyzed by the experiment setting. The validity of the proposed method is verified through being compared with pid(proportional integrated differential)control system design method for the dc servo motor.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.377-382
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• 1993

The low speed control of a servo motor using instantaneous speed detection method is described. To estimate the instantaneous speed from the average speed, the speed estimator of the first or second order is used. We confirm that these estimatorsimprove the speed control performance of a servo system with experiments.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.2
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• pp.219-225
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• 2015

Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.302-305
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• 1999

Twin-servo mechanism is used to increase the payload capacity and speed of high precision motion control system. In this paper, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. This proposed control algorithm consists of separate feedback motion control algorithm of each driving system and skew motion compensation algorithm between two systems. Robust model reference tracking controller is proposed as a separate motion controller and its disturbance attenuation property is shown. For the synchronizing motion, skew motion compensation algorithm is designed, and the stability of whole Closed loop system is proved based on passivity theory.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.322-326
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• 1990

The solution of problems in the automation of mold manufacturing process are high speed and resolution. To catch two problems at once, digital servo system will be essential replacing the analog servo system. In this paper, we tried some hardware/software approach including, designing basic structure, modeling of servo actuator, and designing & simulating of velocity & position controller. Finally, we constructed the hardware for 1 axis digital servo controller of NC system. As a result we obtained the design technics of digital servo systems for high speed NC system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.530-535
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• 2002

Pneumatic control system has been applied to build many industrial automation systems. But most of them are sequence control type because of their low costs, safety, reliability, etc. Pneumatic servo system is rarely applied to real industrial fields because accurate position control is very difficult due to its nonlinearity and compressibility of air. In pneumatic servo control system, a pneumatic servo valve can be applied, But it is very expensive and has no advantage of low cost compared with a common pneumatic system. This paper is concerned with the accurate position control of a rodless pneumatic cylinder using on/off solenoid valve. A novel Intelligent Modified Pulse Width Modulation(MPWM) is newly proposed. The control performance of this pneumatic cylinder depends on the external loads. To overcome this problem, switching of control parameter using artificial neural network is newly proposed, which estimates external loads on rodless pneumatic cylinder using this training neural network. As an underlying controller, a state feedback controller using position, velocity and acceleration is applied in the switching control the system. The effectiveness of the proposed control algorithms are demonstrated through experiments nth various loads.