• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.9
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• pp.622-629
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• 2004

In practical control systems, the capacity of actuators is limited and this degrades the system performances and it is often a source of instability. To use full capacity of actuators, we adopt the gain scheduled control permitting the over saturation in controls. The basic idea of gain scheduled control is to use a higher gain control when the state variables are smaller and a lower gain control when the state variables are larger. First, we derive a constant H control and a reachable set while satisfying the degree of over saturation. Next, we divide this set into nested subsets and find $H_{\infty}$ controls at rack subsets while satisfying the degree of over saturation. Finally, the control gain is applied according to the status of states. Note that all procedures are done by solving linear matrix inequalities(LMI). Finally, we show the validity and applicability of our proposed control using the simulations of a six-story building subjected to the earthquake excitation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.782-787
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• 2002

In optical disk drives (ODD), the demands of high data density and high speed have been increasing rapidly to achieve high data capacity and data transfer rate. The short wavelength laser, High NA objective lens, and high track following performance are needed to raise data density and data rate. For high-performance actuator, the improvement of linearity and acceleration become more important. Also, 3-axis actuator for active tilt compensation is introduced to overcome the decrease in disk tilt tolerance which is induced by short wavelength laser. In this paper, a hybrid type 3-axis actuator is presented and a new yoke structure, which can reduce the interaction between yoke and moving magnet, is designed to keep the efficiency of magnetic circuit. Experimental results show the validity of the yoke in the hybrid type actuator.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.4
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• pp.235-242
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• 2005

In this paper, we consider the H$\infty$ tracking control of linear system with a limited actuator capacity. The considered reference is a general time-varying one with bounded magnitude and rate. By adopting a similarity transform and a new sto variable, we convert the original system equation to new one which has a tracking error as a part of the new state variable. First, we obtain a result on the low-gained H$\infty$ tracking control which never permits the actuator saturation. Next, we give a result on scheduled H$\infty$ tracking control which uses the actuator capacity more effectively. All results are in the form of linear matrix inequalities(LMI) which can be easily checked their feasibility. Finally, we give a numerical example to show the validity and usefulness of our results.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.780-785
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• 2003

Recently the trends in information storage devices need small size, mobility, high capacity, and low power consumption etc. To satisfy those, the development of high performance actuator is an important issue. Compared with general linear actuator for optical disk drive, swingarm type rotary actuator is suitable to design in small form factor and has fast access time for random access. Swingarm actuator is designed considering the structural problem and the actuating force of VCM(Voice Coil Motor). The increase of mass caused by optical components makes vibration problems of swing-arm, therefore resonance frequency should be increased and inertia has to be reduced. ANSYS FEM tool is employed in optimizing swingarm. The VCM is designed using 3-D electro-magnetic analysis, and parameters of magnetic circuit are determined to matte large flux density. The large flux density enables to achieve low power consumption. VCM holder is designed to get the mass balance of total actuator and this balance reduces the magnitude of critical mode relative to pivot bearing, It is expected that swingarm type rotary actuator designed by this method is available to variable type of micro optical disk drives.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.2
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• pp.238-245
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• 2003

To overcome the weakness in the load capacity of conventional robot manipulators actuated by motors with the speed reducer such as the harmonic driver, we proposed a new closed-chain type of the robot actuator which is composed of the four-bar-link mechanism driven by the ball screw. The robot manipulator is revolute-jointed and composed of four axes. The base axis is actuated by the lineal actuator such as the ball screw, and the others are actuated by the proposed actuator. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates and then they are mapped into the sliding coordinates of the ball screw. We performed fundamental tests on the structure of the robot.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.1
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• pp.181-192
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• 1995

In this study, we introduce new types of planar 2 degree-of-freedom robot modules resembling the musculoskeletal structure of the human arm with actuation redundancy. First, for the given actuator sizes the performance analysis for the manipulator with redundant actuation and without redundant actuation is performed with respect to maximum load handling capacity, maximum hand velocity, and maximum hand acceleration. Secondly an algorithm which decides optimal actuator sizes for the given operational performances is introduced, and the optimal actuator sizes for a robot module with four redundant actuation are obtained. The algorithms employed in this paper will be useful to analyze the robot performances and to determine the actuator sizes for general robot manipulators.

• Transactions of the Society of Information Storage Systems
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• v.7 no.1
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• pp.13-18
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• 2011

As a standard of optical disk drive (ODD) was determined to Blu-ray diks (BD), researches for securing slim drive thickness, high data transfer rate and high capacity have been progressed. The actuator for applying BD is also required to have high performances, such as compatibility, slim thickness and 3-axis motion. In this paper, an asymmetric dual lens actuator is proposed to satisfy abovementioned performances. To design the actuator in a limited space, stress analysis and design of experiment (DOE) are performed to reduce weight of moving part and increase driving force and flexible mode frequency. Consequently, the final model, which is satisfied with specifications, is secured.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.490-492
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• 1998

An intention of this paper is design of a gyro actuator for the attitude control of an unstructured object. It is well known that the attitude control of an object hanging with wire is not easy using usual actuators. Even though an actuator such as a pan can be used for control of the object, it is difficult to meet a desired control objectives. We, for this reason, propose a gyro actuator for the attitude control of an unstructured object. The proposed gyro actuator consists of two motors. The first motor is responsible to spin the wheel and the second motor is used to turn the outer gimbal. Appling the torque to the second motor, which results in the turn of the outer gimbal, torque about the vertical axis will be obtained while a wheel of the gyro is spinning constantly. This torque is used to control the attitude of the object attached. The aim of this paper is of deriving the transfer function of the actuator and presenting the guideline of the design parameters such as the weight and the dimension of the wheel, motors, and the load capacity. Simulations to the mathematical model which has a state feedback control are conducted to show the validity of the proposed gyro actuator.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.9
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• pp.1648-1654
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• 2007

In this paper, we consider the design of $H_\infty$ high-gain state feedback control for time-delayed linear systems with limited actuator capacities. The high-gain control means that the control permits the predetermined degree of saturation. Based on new Lyapunov-Krasovskii functional, we derive a result in the form of matrix inequalities. The matrix inequalities are consisted of LMIs those confirm the positive definiteness of Lyapunov- Krasovskii functional, satisfaction of predetermined degree of saturation, reachable set and $L_2$ gain constraint. The result is dependent on the bound of time-delay and its rate, predetermined degree of saturation, actuator capacity, and the allowed size of disturbances. Finally, we give a numerical example to show the effectiveness and usefulness of our result.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.7
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• pp.758-768
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• 2005

The ball screw actuated by the electric motor is widely used as an essential actuator for driving the mechanical system by virtue of accuracy and force transmission capability. In this paper, a design of the global sliding mode control is presented to drive the ball screw actuator along the minimum time trajectory, In the proposed control scheme, if the ranges of parametric uncertainties and torque limits of the system are specified, the arrival time of the load along the minimum time trajectory can be estimated. Also, the arriving time at the reference input and the maximum acceleration are expressed in a closed form solution. Conversely, the capacity of a ball screw actuator including the motor can be easily designed if the external load and its transportation time are specified. The superior performance of the proposed control scheme and analysis is validated by the computer simulation and experiments comparing with other sliding mode controllers.