• 제어로봇시스템학회논문지
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• 제6권10호
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• pp.871-880
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• 2000

A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

• 한국정밀공학회지
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• 제18권4호
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• pp.203-208
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• 2001

In this paper, a novel dual-type positioning mechanism using a voice coil motor(VCM) and a piezoelectric actuator is proposed for optical disk drive or near-field recording type drive. The VCM is used for a coarse motion actuator and the piezoelectric actuator, "S" configuration deflection motion when voltage applied, is used for a fine motion actuator with self-sensing technique, which allows it to sense and actuate simultaneously in a closed loop frame work. When the VCM rotates and stops, a position feedback control algorithm is adopted to further control residu vibration. The performance of the control scheme is confirmed through simulations and experiments.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1995년도 VTS and IBS 95 The Korean Institute of Navigation 1995년도
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• pp.153-165
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• 1995

When an automatic course-keeping is introduced as is quite popular in modern navigation the closed-loop steering system consists of autopilot device power unit(or telemotor unit) steering gear ship dynamics and magnetic or gyro compass. We derive the mathematical model of each element of the automatic steering system. We provide a method of theoretical analysis on propulsive energy loss related to automatic steering of ships inthe open seas taking account of the on-off mechanism of power unit. Also we paid attention to dead band mechanism of autopilot device which is normally called weather adjustment. Next we make numerical calculation of the effects of autopilot control constants ont he propulsive energy loss for two kinds of ship a fishing boat and an ore carrier. Realistic sea and wind disturbances are employed in the calculation.

• Journal of Power Electronics
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• 제14권4호
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• pp.796-805
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• 2014

A digital controller with a low-power approach for point-of-load synchronous buck converters is discussed and compared with its analog counterpart to confirm its feasibility for system integration. The tri-mode digital controller IC in $0.35{\mu}m$ CMOS process is presented to demonstrate solutions that include a PID, quarter PID, and robust RST compensators. These compensators address the steady-state, stand-by, and transient modes according to the system operating point. An idle-tone free condition for ${\Sigma}-{\Delta}$ DPWM reduces the inherent tone noise under DC-excitation. Compared with that of the traditional approach, this condition generates a quasi-pure modulation signal. Experimental results verify the closed-loop performances and confirm the power-saving mechanism of the proposed controller.

• 한국항해학회지
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• 제4권1호
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• pp.31-50
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• 1980

It does not seem necessarily practicable to keep the system always in optimal condition, athough the control system of the follow-up mechanism on the most marine gyro compasses is to be adjusted by the operator through the gain adjustment. Sometimes a sustained oscillation or an incorrect gyro reading occurs to the system. For such a system any systematical research or theoretical basis of the guide for the optimal gain adjustment has not been reported yet. As a basic investigation of the theoretical system analysis to solve the problems concerned, the author attempts in this paper to express the system in a mathematical model deduced from the results of the theoretical approach and the experimental observation of each element contained in the follow-up mechanism of Hokshin D-1 gyro compass, and to constitute an over-all closed loop transfer function. This funciton being reverted to a fourth orderlinear differential equation, the first order simultaneous differential equations are obtained by means of the state-variables. The latter equations are solved by the Runge-Kutta method with digital computer. By comparing the characteristic of the simulated over-all output with that of the experimental result, it is shown that both outputs are nearly consistent with each other. It is also expected that the system representation proposed by this paper is valid and will be a prospective means in a further study on the design and optimal adjustment of the system.

• Structural Engineering and Mechanics
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• 제87권2호
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• pp.117-127
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• 2023

To efficiently attenuate seismic responses of a structure, a novel pneumatic-driven active dynamic vibration absorber (PD-ADVA) is proposed in this study. PD-ADVA aims to realize closed-loop control using a simple and intuitive control algorithm, which takes the structure velocity response as the input signal and then outputs an inverse control force to primary structure. The corresponding active control theory and phase control mechanism of the system are studied by numerical and theoretical methods, the system's control performance and amplitude-frequency characteristics under seismic excitations are explored. The capability of the proposed active control system to cope with frequency-varying random excitation is evaluated by comparing with the optimum tuning TMD. The analysis results show that the control algorithm of PD-ADVA ensures the control force always output to the structure in the opposite direction of the velocity response, indicating that the presented system does not produce a negative effect. The phase difference between the response of uncontrolled and controlled structures is zero, while the phase difference between the control force and the harmonic excitation is π, the theoretical and numerical results demonstrate that PD-ADVA always generates beneficial control effects. The PD-ADVA can effectively mitigate the structural seismic responses, and its control performance is insensitive to amplitude. Compared with the optimum tuning TMD, PD-ADVA has better control performance and higher system stability, and will not have negative effects under seismic wave excitations.

• 한국항행학회논문지
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• 제13권1호
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• pp.87-96
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• 2009

본 논문에서는 무선통신에서 유한개의 전략집합을 갖는 전력제어 문제를 게임이론을 통하여 분석하였다. 기존의 게임이론을 이용한 전력제어에서는 개방루프 제어에서와 같이 초기전송 전력을 결정하는 연속적인 게임 모델에 국한된 반면, 본 논문에서는 폐루프 전력제어에서와 정해진 전력제어 step size 만큼 전력을 올리거나 내리는 전력제어 문제를 게임 이론의 전형적인 모델 중의 하나인 죄수 딜레마 모형을 이용하여 분석하였다. 분석결과 전력을 올리는 전략이 내쉬 균형임을 증명하였고, 따라서 이와 같은 상황에서는 모든 단말기가 자신의 전력을 향상시키려고 시도하기 때문에 전체 시스템 측면에서는 효율적이지 못하다. 본 논문에서는 인접 셀 간 간섭이 심각한 환경에서 효율적인 전력제어 알고리즘을 구현하기 위하여 게임모형의 효용함수를 새롭게 정의하였고, 그 결과 모든 단말이 자신의 효용함수를 최대화 하려고 노력한다고 하더라도 자신의 송신 전력이 일정한 수준으로 유지될 수 있는 알고리즘을 개발하였다.

• 수산해양기술연구
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• 제26권1호
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• pp.81-87
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• 1990

본 논문에서는, 문헌[1]에서 보였던 적분형 서어보계의 구성문제를 목표입력이 선형자유계의 출력으로 얻어지는 경우로 일반화하여 확대계수를 얻고 쌍선형변환법에 의해 폐류우프계를 구성하는 설계법을 제안했다. 본 설계법의 유효성을 확인하기 위해, 전기 서어보기구의 각도 제어에 관한 응용 예를 보였다. 실제적인 서어보 시스템의 설계문제에 있어, 그 폐루우프계의 특성근을 정확한 위치에 배치하기보다는 오히려 어떤 요구하는 과도응답이 얻어질 수 있게 하는 영역내에 배치하면 된다는 의미에서 보면, 본 서어보계 구성법은 그 실제적인 의미가 크다고 할 수 있다.

• 한국통신학회논문지
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• 제38B권7호
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• pp.572-580
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• 2013

IEEE 802.15.4e은 산업용 네트워크 제어 시스템의 무선 네트워크 적용을 위해 개발된 통신 표준으로서, 기존경쟁 기반의 MAC 프로토콜이 갖는 전송 지연의 문제를 해결하기 위해 비경쟁 기반의 MAC 프로토콜을 제시하고 있다. 이에 본 논문은 IEEE 802.15.4e 기반 무선 네트워크 제어 시스템에 적용 가능한 네트워크 모델과 제어 모델을 제시하고, 성능 평가를 목적으로 한다. 이를 위해 각 모델에 대한 수학적 분석을 토대로 모의실험 환경을 구성하였으며, 무선 네트워크 환경의 주요 환경 요소인 거리, 전송 전력을 변화시켜 패킷 손실에 대한 영향을 분석하였다. 특히 제안하는 모델의 명확성을 입증하기 위해 중복 전송을 고려한 네트워크 모델을 대표적인 비선형 실시간 모델인 역진자 시스템에 도입하여 성능 분석을 수행하였다. 그 결과 본 논문에서 제안하는 네트워크 및 제어기 모델이 사용 가능함을 확인하였고, 각 환경 변화에 따른 성능 추이를 살펴볼 수 있었다.

• 한국자동차공학회논문집
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• 제10권1호
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• pp.209-215
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• 2002

A study of the guideway vehicle was made for a comparison of ride stabilities between its two primary steering types; one is the front wheel steering and the other the front-rear wheel. A numerical model as a closed loop system was built for an investigation of various factors to have an influence on the vehicular critical speed which is closely associated with ridabilities. It was shown that dynamics stabilities of the front steering type was much better over a large value of steering gain and the longer distance between front axle and guide link for both types provided better stabilities as well. A large steering gain ratio of the front to the rear significantly plays an important role in an improvement of stability in the front-rear steering. To observe a qualitative trend on stability behaviors, the root locus was obtained by considering a time lag which may be frequently caused by the complicated steering mechanism. In performing so, the appropriate selection of steering gain had a greater effect on the front-rear steering vehicle far more ride comfort. In addition, the dynamics model proposed here can be utilized for a more accurate evaluation on the vehicle design in lateral or yawing absorber and moreover expanded for the analysis of independent four-wheel steering vehicle.