• 제어로봇시스템학회논문지
• /
• 제22권6호
• /
• pp.411-416
• /
• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• 전기학회논문지
• /
• 제64권3호
• /
• pp.445-450
• /
• 2015

In the moving target problem, the velocity information of the moving target is very important as well as the high accuracy position information. To solve this problem, active researches are being conducted recently with combine the Time Difference of Arrival (TDOA) and Frequency Delay of Arrival(FDOA) measurements. However, since the FDOA measurement is utilizing the Doppler effect due to the relative velocity between the target source and the receiver sensor, it may be difficult to use the FDOA measurement if the moving target speed is not sufficiently fast. In this paper, we propose a method for estimating the position and the velocities of the target by using only the TDOA measurements for the low speed moving target in the indoor environment with sensor network. First, the target position and heading angle are obtained from the estimated positions of two attached transmitters on the target. Then, the target angular and linear velocities are also estimated. In addtion, we apply the Instrumental Variable (IV) technique to compensate the estimation error of the estimated target velocity. In simulation, the performance of the proposed algorithm is verified.

• International Journal of Advanced Culture Technology
• /
• 제7권4호
• /
• pp.236-241
• /
• 2019

This paper will read about a multichannel frequency-modulated continuous wave (FMCW) radar sensor with switching transmit (TX) antennas is developed at W-band. To achieve a high angular resolution, a uniform linear array consisting of 5 switching-TX and 12 receive (RX) antennas is employed with the digital beamforming technique. The overall radar front-end module comprises a W-band transceiver and TX/RX antennas. A multichannel transceiver module consists of 5 up-conversion and 12 down-conversion channels, where one of the TX channels is sequentially switched ON. For developing transmitter, we developed an HPA (high power amplified) MMIC chip for W-band radar system and fabricated a transmitter module using this chip. In order to develop the W-band transmitter, we analyzed the important antenna transition structure from HPA MMIC line to W/G (Waveguide)antenna via M/S(microstrip) and fabricated it with 5 transmission channels. As a result, the output power of the transmitter was within 1 dB of the error range after analysis and measurement under normal temperature and environmental conditions.

• 천문학회보
• /
• 제37권2호
• /
• pp.124.1-124.1
• /
• 2012

We have made a comparison of the WSA-ENLIL CME propagation model with three cone types and an empirical model using 29 halo CMEs from 2001 to 2002. These halo CMEs have cone model parameters from Michalek et al. (2007) as well as their associated interplanetary (IP) shocks. For this study we consider three different cone models (an asymmetric cone model, an ice-cream cone model and an elliptical cone model) to determine CME cone parameters (radial velocity, angular width and source location), which are used for input parameters of the WSA-ENLIL CME propagation model. The mean absolute error (MAE) of the arrival times at the Earth for the elliptical cone model is 10 hours, which is about 2 hours smaller than those of the other models. However, this value is still larger than that (8.7 hours) of an empirical model by Kim et al. (2007). We are investigating several possibilities on relatively large errors of the WSA-ENLIL cone model, which may be caused by CME-CME interaction, background solar wind speed, and/or CME density enhancement.

• International Journal of Precision Engineering and Manufacturing
• /
• 제8권2호
• /
• pp.14-19
• /
• 2007

Angle sensors based on the principle of autocollimation, which are usually called autocollimators, can accurately measure small tilt angles of a light-reflecting flat surface. This paper describes a prototype micro-angle sensor that is based on the laser autocollimation technique. The new angle sensor is compact and consists of a laser diode as the light source and a quadrant photodiode as a position-sensing device. Because of its concise design, the microangle sensor facilitates dynamic measurements of the angular error motions of a precision stage without influencing the original dynamic properties of the stage. This is because the sensor only requires a small extra target mirror to be mounted on the stage. The sensitivity of the angle detection is independent of the focal length of the objective lens; therefore, an objective lens with a relatively short focal length is employed to reduce the size of the device. The micro-angle sensor uses a single lens for the both the laser collimation and focusing, which distinguishes it from the conventional laser autocollimation method that has separate collimate and objective lenses. The new micro-angle sensor has dimensions of $15.1\times22.0\times14.0mm$ and its resolution is better than 0.1 arc-second The optical design and performance of this micro-angle sensor were verified by experimental results.

• 전력전자학회논문지
• /
• 제10권2호
• /
• pp.155-161
• /
• 2005

본 논문에서는 MRAS 퍼지제어를 이용한 회전자 시정수 추정 기법을 제안한다. 회전자 자속을 추정하는 방법은 기준모델과 적응 회전자 모델을 이용한다 이 두 모델은 MRAS의 형태로 구성되며 두 모델의 오차를 영으로 근접하게 제어한다. 두 모델의 파라미터가 정확하면 동일한 결과를 얻는다. 그러나 회전자 시정수의 추정이 정확하게 이루어지지 않으면 두 회전자 자속의 추정은 서로 다른 각도를 가지게 된다. 두 모델의 오차와 오차 변화분을 입력으로 퍼지 제어기를 이용하여 회전자 시정수를 추정한다.

• Journal of Mechanical Science and Technology
• /
• 제19권12호
• /
• pp.2205-2212
• /
• 2005

In this paper, the cutting torque of a CNC machine tool during machining is monitored through the internet. To estimate the cutting torque precisely, the spindle driving system is divided into two parts: electrical induction motor part and mechanical part. A magnetized current is calculated from the measured three-phase stator currents and used for the total torque estimation generated by a spindle motor. Slip angular velocity is calculated from the magnetized current directly, which gets rid of the necessity of a spindle speed sensor. Since the frictional torque changes according to the cutting torque and the spindle rotational speed, an experiment is adopted to obtain the frictional torque as a function of the cutting torque and the spindle rotation speed. Then the cutting torque can be calculated by solving a $2^{nd}$ order difference equation at a given cutting condition. A graphical programming method is used to implement the torque monitoring system developed in this study to the computer and at the same time monitor the torque of the spindle motor in real time through the internet. The cutting torque of the CNC lathe is estimated well within an about $3\%$ error range in average in various cutting conditions.

• Advances in robotics research
• /
• 제1권1호
• /
• pp.81-99
• /
• 2014

This paper contributes towards the development of a computer vision system for telemonitoring of industrial articulated robotic arms. The system aims to provide precision real time measurements of the joint angles by employing low cost cameras and visual markers on the body of the robot. To achieve this, a mathematical model that connects image features and joint angles was developed covering rotation of a single joint whose axis is parallel to the visual projection plane. The feature that is examined during image processing is the varying area of given circular target placed on the body of the robot, as registered by the camera during rotation of the arm. In order to distinguish between rotation directions four targets were used placed every $90^{\circ}$ and observed by two cameras at suitable angular distances. The results were deemed acceptable considering camera cost and lighting conditions of the workspace. A computational error analysis explored how deviations from the ideal camera positions affect the measurements and led to appropriate correction. The method is deemed to be extensible to multiple joint motion of a known kinematic chain.

• Nuclear Engineering and Technology
• /
• 제53권7호
• /
• pp.2251-2260
• /
• 2021

The motion control of the divertor maintenance system of the China Fusion Engineering Test Reactor (CFETR) was studied in this paper, in which CFETR Multi-Functional Maintenance Platform (MFMP) was simplified as a parallel robot for the convenience of theoretical analysis. In order to design the motion controller of parallel robot, the kinematics analysis of parallel robot was carried out. After that, the dynamic modeling of the hydraulic system was built. As the large variation of heavy payload on MFMP and highly nonlinearity of the system, A Fuzzy-PID controller was built for self-tuning PID controller parameters by using Fuzzy system to achieve better performance. In order to test the feasibility of the Fuzzy-PID controller, the simulation model of the system was built in Simulink. The results have showed that Fuzzy-PID controller can significantly reduce the angular error of the moving platform and provide the stable motion for transferring the divertor.

• Current Optics and Photonics
• /
• 제6권3호
• /
• pp.236-243
• /
• 2022

Monocrystalline silicon has excellent properties, but it is difficult to design and manufacture silicon-based mirrors that can meet engineering applications because of its hard and brittle properties. This paper used monocrystalline silicon as the main mirror material in an imaging system to carry out a feasibility study. The lightweight design of the mirror is completed by the method of center support and edge cutting. The support structure of the mirror was designed to meet the conditions of wide temperature applications. Isight software was used to optimize the feasibility sample, and the optimized results are that the root mean square error of the mirror surface is 3.6 nm, the rigid body displacement of the mirror is 2.1 ㎛, and the angular displacement is 2.5" under the conditions of a temperature of ∆20 ℃ and a gravity load of 1 g. The optimized result show that the silicon-based mirror developed in this paper can meet the requirements of engineering applications. This research on silicon-based mirrors can provide guidance for the application of other silicon-based mirrors.