• Structural Engineering and Mechanics
• /
• 제49권6호
• /
• pp.687-703
• /
• 2014

This paper develops a new nonlinear model for active control of three-dimensional (3D) irregular building structures. Both geometrical and material nonlinearities with a neuro-controller training algorithm are applied to a multi-degree-of-freedom 3D system. Two dynamic assembling motions are considered simultaneously in the control model such as coupling between torsional and lateral responses of the structure and interaction between the structural system and the actuators. The proposed control system and training algorithm of the structural system are evaluated by simulating the responses of the structure under the El-Centro 1940 earthquake excitation. In the numerical example, the 3D three-story structure with linear and nonlinear stiffness is controlled by a trained neural network. The actuator dynamics, control time delay and incident angle of earthquake are also considered in the simulation. Results show that the proposed control algorithm for 3D buildings is effective in structural control.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집B
• /
• pp.694-699
• /
• 2001

This paper presents a control of active suspension system for quarter-car model with two-degree-of-freedom using $H_{inf}$ and nonlinear adaptive robust control method. Suspension dynamics is linear and treated by $H_{inf}$ method which guarantees the robustness of closed loop system under the presence of uncertainties and minimizes the effect of road disturbance to system. An Adaptive Robust Control (ARC) technique is used to design a force controller such that it is robust against actuator uncertainties. Simulation results are given for both frequency and time domains to verify the effectiveness of the designed controllers.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 1997년도 춘계학술대회논문집; 경주코오롱호텔; 22-23 May 1997
• /
• pp.293-300
• /
• 1997

This paper is concerned with the vibration control of multi-layer structure for ultra-tall buildings and main tower of large bridge etc. We have modeled the multi-layer structure with the distributed mass system as the lumped mass system of two-degree-of-freedom structure and made experimental equipment. The H$_{\infty}$ control theory is applied to the design of the control system. The designed control system is simulated by computer. As a result, the designed H$_{\infty}$ controller showed good vibration control performance to impact excitation and the good frequency response.e.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2002년도 ITC-CSCC -1
• /
• pp.583-586
• /
• 2002

In this research, we propose a flexible conveying system (FCS) which consists of multiple arrays of cells. Each cell is a wheel driven by a two degree-of-freedom mechanism. The direction and velocity of cell are controlled based on the concept of hybrid control under a distributed network. Each cell has its own controller under a subsumption architecture for low-level control. A cell communicates with its four neighboring cells to manipulate n targeted object towards its desired position. The high-level control assigns a desired position and direction of the object to each cell. The path of each object is generated by many supporting cells. Moreover, the FCS can handle multiple objects simultaneously. To study the flexible conveying system, a GUI-based simulator of flexible conveying system is constructed. The simulated results show that the system can handle multiple objects independently and simultaneously under the proposed hybrid control architecture.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2004년도 춘계종합학술대회
• /
• pp.506-510
• /
• 2004

토크 전달시스템은 다수의 기어와 커플링이 유연하게 구성되어 있으므로 모터의 속도가 갑자기 변할 때 비틀림 진동이 발생한다. 모터의 정확한 응답 특성을 얻기 위해서는 반드시 이 진동은 억제되어야 한다. 따라서 진동억제는 모터제어에 있어서 매우 중요하다. 특히 2관성 시스템의 진동억제를 위해 다양한 제어방법들이 소개되었다. 토크의 비틀림 현상으로 인해 발생하는 진동을 억제하기 위해 토크의 비틀림 성분을 궤환시키고 일반적인 필터로 구성된 외란 관측기 필터를 사용하는 방법이 소개되었다. 또한 이를 계수도법(CDM)을 이용 적절한 P 제어기와 필터의 계수값을 설계하여 진동을 억제하는 방법이다. 그러나 계수도법을 이용하여 설계된 제어기 파라미터는 외란 인가시 적응성이 떨어짐을 알 수 있다. 반면 PID 제어기는 설계가 간단하나 초기에 과도한 오버슈트를 및 진동 문제를 유발한다. 이러한 문제점들을 해결하기 위하여 최근에는 2자유도 파라미터 a로 비례이득을 가변함으로써 외란에는 영향을 받지 않고 목표치 추종 성능을 개선할 수 있는 단순하고 실용적인 2자유도 PID 제어기가 소개되었다. 그러나 이 방법 역시 원하는 P값을 얻기 위해 u를 가변 하여야 하는 단점을 가지고 있다. 따라서 본 논문에서는 이러한 단점들을 극복하기 위해 퍼지 알고리즘을 사용 파라미터 $\alpha$를 자동 조정하는 제어기를 설계하였다. 사용된 제어기의 성능을 입증하기 위하여 기존의 제어방법과 시뮬레이션을 통해 비교, 평가한다.

• 대한기계학회논문집
• /
• 제18권8호
• /
• pp.2088-2100
• /
• 1994

Considerable attention has been given to controller designs that utilize the variable structure system theory in order to achieve robust tracking performance of robotic manipulators subjected to parameter variations and extraneous disturbances. However, the theory has not had wide spread acceptance in practical control engineering community due mainly to the worry of chattering which is inherently ever-existing in the variable structure system. This paper presents a novel type of fuzzy-sliding mode controller to alleviate the chattering problem. A sliding mode controller for robust robot control is firstly synthesized with an assumption that the imposed system uncertainties satisfy matching conditions so that certain deterministic performances can parameters and control rules are obtained from a relation between predetermined sliding surfaces and representative points in the error state space. A two degree-of-freedom robotic manipulator subjected to a variable payload and a torque disturbance is considered in order to demonstrate superior tracking performance accrued from the proposed methodology.

• Transactions on Control, Automation and Systems Engineering
• /
• 제2권1호
• /
• pp.1-6
• /
• 2000

This paper presents a control of active suspension for quarter car model with two degree of freedom by using H$\infty$ method. Absolute velocity of car body is measured for feedback. The system parameter variations are treated with multiplicative uncertainty model. Simulation results show that the H$\infty$ control provides good trade-off between ride quality, suspension packaging and road holding constraints. The experiment with a front wheel suspension system was done to verify the simulation results.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 하계학술대회 논문집 G
• /
• pp.2370-2372
• /
• 1998

Recently we have developed an active stereo head-eye system with vergence, name it KIST HECter(Head-Eye System with Colored Stero Vision), based on the analysis of human's neck and eye motion at visual behavior. Our HECter is a five degree-of-freedom system composed of pan and tilt motion in neck part and independent vergence motion of binocular cameras and commonly shared elevation axis in eye part. And stereo vision Provides two color image, which are processed by powerful each TMS32080 vision board. The shape and size are designed to be almost same as human face. The ability to vergence has significant importance and gives many beneficial merits. On its mechanical implementation we adapt a non-parallelogram 4-bar linkage mechanism since it provides high accuracy in transfering motion and enables compact and flexible design.

• 제어로봇시스템학회논문지
• /
• 제10권12호
• /
• pp.1217-1222
• /
• 2004

This paper describes the development of tele-robotic interface for the hot-line maintenance robot system. One of main issues in designing human-robot interface for the hot-line maintenance robot system is to plan the control procedure for each part of the robotic system. Another issue is that the actual degree of freedom (DOF) in the hot-line maintenance robot system is much greater than that of available control devices such as joysticks and gloves in the remote-cabin. For this purpose, a virtual simulator, which includes the virtual hot-line maintenance robot system and the environment, is developed in the 3D environment using CAD data. It is assumed that the control operation is done in the remote cabin and the overall work process is observed using the main-camera with 2 DOFs. For the input device, two joysticks, one pedal, two data gloves, and a Head Mounted Display (HMD) with tracker sensor were used. The interface is developed for each control mode. Designed human-interface system is operated using high-level control commands which are intuitive and easy to understand without any special training.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1996년도 하계학술대회 논문집 B
• /
• pp.959-961
• /
• 1996

In this paper, we study the modeling and control of Electro-Magnetic Suspension System with 2 Degree Of Freedom. While the previous researchers considered the control of single rail EMS Systems, we consider the control of two rail EMS Systems. We first derive a simple model to represent the dynamics of EMS System with 2 D.O.F., using the Lagrange's method. The nonlinear equations of motion that we derive are shown to be linearizable by coordinate change and nonlinear static state feedback. The nonlinear static state feedback controller is constructed explicitly.