• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2006년도 춘계학술대회 논문집
• /
• pp.43-44
• /
• 2006

The performance of the direct adaptive time-delay filter depends on the select time-delay. In this paper, the authors introduce a new scheme to adapt the time-delay which is to be used in conjunction with the direct adaptive command shaping for the improved vibration suppression in flexible motion system. In order to formulate the time-delay adaptation scheme, the authors have analyzed the effect of the time-delay value on the performance of the direct adaptive command shaping filter. By modifying the direct adaptation formula based on the analysis result the authors have established a set of equations to adapt the time-delay toward the optimal value. Simulation results show the effectiveness of the proposed time-delay adaptation approach for the improved vibration suppression.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2011년도 춘계학술대회 논문집
• /
• pp.313-314
• /
• 2011

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2007년도 춘계학술대회 논문집
• /
• pp.355-356
• /
• 2007

• 융합신호처리학회논문지
• /
• 제5권1호
• /
• pp.40-45
• /
• 2004

본 논문에서는 병렬 분산제어 방식을 이용한 곡면유리 자동성형 시스템을 개발한다. 설계된 시스템은 PC, 하나의 주제어기, 그리고 11개의 서보제어기로 구성된다. 각 요소들은 RS-232C와 8비트 데이터 버스로 연결된다. 안정성과 제어성능을 고려하여 정밀 PID 모션제어기 프로세서와 DC모터 제어에 사용되는 H-브리지를 사용한다. 설계된 시스템에서, PC는 주어진 곡률반경에 대한 각 구조물의 위치 값을 계산하고 이 값에 대응하는 모터 회전 데이터를 계산하며 작업자의 조작 입력을 위한 사용자 인터페이스를 제공한다. 주제어기는 PC로부터 동작 명령과 제어 파라미터를 받아 버스 통신방식을 이용하여 이를 각 서보제어기로 전달하며 서보제어기는 주제어기로부터 넘겨받은 동작명령과 제어 파라미터를 이용하여 각 모터에 대하여 PID제어를 수행한다.

• 한국정밀공학회지
• /
• 제24권11호
• /
• pp.91-100
• /
• 2007

Many manufacturing devices must execute motions as quickly as possible to achieve profitable high-volume production. Most of them have devices having flexibility and a time delay of one sampling is added to the plants when they are controlled by fast discrete controllers, which brings about non-minimum phase zeros. This paper develops a control strategy that combines feedforward and feedback control with command shaping for such devices. First, the feedback controller is designed to increase damping and eliminate steady-state error. Next, the feedforward controller is designed to speed up the transient response. Finally, an appropriate reference profile is generated using command-shaping techniques to ensure fast point-to-point motions with minimum residual vibration. The particular focus of the paper is to understand the interactions between these individual control components. The resulting control strategy is demonstrated on a model of a high-speed semiconductor manufacturing machine.

• 제어로봇시스템학회논문지
• /
• 제14권6호
• /
• pp.564-572
• /
• 2008

The performance of the direct adaptive time-delay command shaping filter depends on the select time-delay. In the previously introduced direct adaptive command shaping filter, however, the time-delay value is fixed and only the magnitudes of the impulses are learned. In this paper, the authors introduce a new scheme to adapt the time-delay which is to be used in conjunction with the direct adaptive command shaping for the improved vibration suppression in flexible motion system. In order to formulate the time-delay adaptation scheme, the authors have analyzed the effect of the time-delay value on the performance of the direct adaptive command shaping filter. By modifying the direct adaptation formula based on the analysis result the authors have established a set of equations to adapt the time-delay toward the optimal value. Simulation results show the effectiveness of the proposed time-delay adaptation approach for the improved vibration suppression.

• 융복합기술연구소 논문집
• /
• 제1권1호
• /
• pp.18-23
• /
• 2011

Shaping an input command through considering the resonant modes of multi degrees of freedom system, it is possible to realize the wanted motion, without exciting the uncontrollable modes of the flexible system. But, an increase of modes to be considered brings inevitably about the time delay due to an excessive rising time. On the purpose of reducing the rising time, only the interesting and dominant modes can be considered to determine the timing pulses of input shaper. In this paper, an effect of shaper by the partial modes is analysed for a specific system and the input shapers by the partial modes are analysed for three d.o.f damped system, using Matlab simulation.

• 한국정밀공학회지
• /
• 제25권10호
• /
• pp.122-129
• /
• 2008

This paper deals with precise positioning of a high-speed positioning stage without inducing residual vibration by using an input shaping technique. Input shaping is well known to be a very effective tool for suppressing the residual vibration of flexible structures. However, the ordinary input shaping for positioning stages is designated mostly for velocity regulation, not for the residual vibration at the target position. The main difficulties in implementing input shaping along with precise positioning are the time delay caused by the servo system characteristics and the s-curve feature often employed in some motor controllers. This paper analyzes the dynamic responses of a single-mode-dominate stage system subjected to input shaping. A theoretical model is developed io investigate the nature of system. In order to overcome the difficulty, this paper proposes an improved input shaper based on modified command profile generation. The proposed method is proved effective through experiments and simulations.

• 오토저널
• /
• 제18권6호
• /
• pp.40-45
• /
• 1996

전자제어를 이용한 자동차의 제어란 인간의 감각 기관과 같은 센싱부, 두뇌와 같은 전자제어 유니트부, 명령을 수행하는 액츄에이터로 구성되어 있다. 그 중 센서는 각가지 물리량 및 화학량을 전자제어 유니트가 이해할 수 있는 전기적인 양으로 변환하여 전달하는 부품이라고 할 수 있으며 매우 다양한 원리와 구조로 이루어져 있다. 그 중에서 자동차에서 일어나는 가장 일반적인 물리량인 가속도, 압력, 충격, 변위, 온도 등을 센싱할 수 있는 재료인 세라믹 재료는 자동차의 전자화에 따라서 그 적용범위가 크게 확대되어 왔다고 할 수 있다. 세라믹이란 단결정의 무질서 집합체이며, 가장 일반적인 것은 원료 분말을 조합해서 그 성형체를 고열로 소성함으로서 만들어진다. 세라믹은 절연성, 유연성, 압전성, 초전성, 반도체적 특성 등 센서와 관련된 많은 유용한 전자적 기능들을 보유하고 있어 세라믹이 아니고는 실현할 수 없는 기능들도 많이 생겨나게 되었다. 본 기고에서는 세라믹의 자동차 센서에의 응용에서 가장 일반적으로 사용되고 있는 압전 효과를 이용한 센서 재료와 서미스터를 이용한 온도센서 재료에 대해서 소개하고자 한다.

• 한국정밀공학회지
• /
• 제30권9호
• /
• pp.909-913
• /
• 2013

Various types of large substrate handling robots are used in the thin file solar cell manufacturing line as well as LCD or PDP production line. Because the robot handles the heavy substrate at high speed, there are some issues such as vibration control and the optimal design of arms and forks. As the substrate becomes larger and heavier, robot systems are also larger and the vibration issue of the robot end-effector becomes more important. In the paper, we established the robot modeling and the control architecture including the flexible part such as forks. Then, we performed dynamic simulation in the various condition and analyzed the characteristics of the fork vibration. We can reduce the vibration using the trajectory planning and input shaping algorithm and it was proved by experiment.