• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2003년도 하계학술대회 논문집
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• pp.141-144
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• 2003

This paper proposes a design method of a CDBC(Continuous-time Deadbeat Controller)system that takes into account the response between the sampling instant and using second-order smoothing elements. The continuous deadbeat controller is composed of a serial integral compensator and a local feedback compensator introduced into the state feedback loop. A DC servo motor is chosen for implementing CDBC algorithm. Especially according to the variable input and disturbance, corresponding CDBC design method is suggested. A Matlab Simulink is used for simulation with the Motor parameter. By computer simulations, control inputs and system outputs are shown to have desirable property such as smoothness.

• 융합신호처리학회논문지
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• 제5권2호
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• pp.138-142
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• 2004

본 논문은 모델추종 제어을 위한 PID제어기법을 제안한다. 이산시간영역에서 제어성능을 개선하기 위해 제안하였고, PID 제어계에 새로운 전치 보상기를 삽입하여 모델추종제어계가 되도록 하였다. 외란이나 부하변동에 의해서 계의 응답이 변할 때 PID 제어기의 이득을 재조정할 필요가 있다. PID 제어계에서 각 PID 이득이 제어계의 성능을 크게 좌우하게 되므로 신경망을 PID제어기에 결합하여 제어계의 성능을 향상시켰고 제안한 제어계에서 PID제어기의 이득은 역전파 알고리즘에 의해 자동적으로 조정되어지도록 하였다. 모델추종 제어계의 제어성능을 확인하기 위하여 제어대상을 직류 서보 전동기의 각 위치로 하였다. 이것을 위치 제어계에 적용하여 실험을 통해 그 성능을 증명하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1027-1030
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• 1996

The purpose of this study was to develop systematic diagnostic system testing easily, rapidly vestibular function of patients suffered from vestibular syndrome such as nausea vomiting, dizzness, ataxia. Diagnostic system composed of rotatory chair system which rotated sinusoidally patients against their vertical axis for purpose of invoking eye movement by vestibulo-ocular reflex and the softwares which storaged eye movement into computer and analyzed eye movement. Rotatory chair system consisted of comfortable chair and DC servomotor with reducer(1:80) by controlled servo in field of nonlinear motor control, double feedback loops system containing velocity feedback loop and position feedback loop was applied to this sever controlled rotatory chair system. Maximum rotatory velocity of rotatory chair was upto 60 degree per second and frequency range was 0.01 to 0.64 Hz. These above results suggest that clinical rotatory chair system may test easily, rapidly vestibular function and diagnose etiology of dizziness, thus giving effective assistance on the treatment of dizziness patients.

• 융합신호처리학회논문지
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• 제3권1호
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• pp.74-79
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• 2002

많은 제어기법들이 이산시간영역제어계에서 제어성능을 개선하기 위해서 제안되고 있다. 이 제어기법들을 이용한 제어계에서 계의 응답특성은 제어기의 이득에 관계한다. 특히 외란이나 부하변동에 의해서 계의 응답이 변할 때 제어기의 이득을 재조정할 필요가 있다. 본 논문에서는 다층 신경망으로 I-PD제어기와 전치보상기를 설계하였다. I-PD제어기와 전치보상기의 이득이 자동적으로 역전파 알고리즘에 의해서 조정되도록 하였다. 제어계의 응답이 어떤 조건에 의해서 변할 때 I-PD제어기와 전치보상기의 이득들이 역전파 알고리즘에 의해서 자동적으로 조정되게 하였다. 이 I-PD제어기법을 직류 서보 전동기를 구동원으로 하는 위치제어계에 적용하여 제어기의 제어성능을 실험 결과로 타당성을 확인하였다.

• 한국통신학회논문지
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• 제19권11호
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• pp.2189-2198
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• 1994

본 논문에서는 퍼지 제어 시스템에 사용되는 퍼지 논리 제어기의 성능을 향상시키기 위한 여러가지 알고리즘들 중에서 학습기법에 속하는 퍼지 메타 규칙에 기초한 자기 동조 기법을 사용하여 직류 서보 전동기 제어를 위한 자기 동조 퍼지 논리 제어기를 구현해서, 자기 동조 퍼지 논리 제어기의 설계와 시뮬레이션 및 실험 결과를 고찰하고, 그 결과를 일반적인 퍼지 논리 제어기의 결과와 비교하여 자기 동조 퍼지 논리 제어기의 성능을 평가한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1509-1512
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• 2003

The electric power wheelchair needs to control motor torque and speed for responding to variable actions given by handling a joystick. In this paper a DSP-based BLDC motor controller using a single dc-link current sensor is presented for electric power wheelchair. It is composed by a DSP processor and three-phase inverter module. To control torque, high speed current control is achieved by the PI controller and pulse width modulation (PWM) signals with 25 kHz carrier frequency, which is performed by 200 ${\mu}sec$ cycle. The speed controller computes the new direct current reference from the speed error and the PI control equation. The displacement value by handling the joystick is converted to reference speeds of right and left wheel motors using nonholonomic wheelchair kinematics. Experimental results show that the presented control system is enough to implement a speed servo in wheelchair driving.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.200-202
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• 2004

This paper deals with the real-time monitoring and control system using PC, PDA(Win CE embedded device) and PCS(based BREW platform). The camera attached to the server captures the moving target, and the captured frame of color image is encoded in JPEG for image compression at the server. The client(PC, PDA, PCS) receives the image data from the remote server and the received image is decoded from decompression. We use the TCP/IP protocol to send the image frames. The client can control the position of the camera by sending the control command to the server. Two DC servo motors for the camera are controlled in any directions, up-down and left-right, by the controller which is communicating with the server via the serial communication to get the control command. In this way, on the client we can monitor the moving images at the server and also control the position of the camera.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.524-527
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• 2002

This paper is on the development of an educational 6-axis articulated manipulator using 4-bar linkage system. Especially, the 2$^{nd}$ and the 3$^{rd}$ axes need large torque to control the movement of an end-effect. However, small motors (RC-servo, DC-gear, stepping meters) are used for the 4-bar linkage. In addition the manipulator can be operated by a switch and also motion can be realized automatically, based on C-language coded users programs..

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2007년도 춘계학술대회 논문집
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• pp.300-305
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• 2007

This study developed a human robot master arm, which has a structure similar to the human arm, with the object of taking over human works. The robot arm was structured to reproduce human actions using three axes on each of the shoulder and the wrist based on mechanics, and the actuator of each axis adopted an ordinary DC motor. The servo system of the actuator is a one body type employing an amp for electric power, and it was designed to be small and lightweight for easy installation. We examined the posture control characteristics of the developed robot master arm in order to test its interlocking, continuous notions and reliability.

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1997년도 춘계학술대회논문집
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• pp.145-149
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• 1997

General joystick using spring only has a vibration when operaor drops the joystick. If it is used as input of motorized wheelchair, its system have a serious problem which operator fall into dangerous situation. Therefore, In this paper proposed non-vibration joustick which control a motorized wheelchair. Non-vibration joystick was designed which return to origin point when operator drops joystick by mistake. Reflected force of non- vibration joystick is defined as addition displacement and variation rate. And each parameter has elasticity of spring and viscosity of DC servo motor. Through simulation for virtual environment, we found two coefficient to return origin point smoothly when a disabled person drops the joystick. In case of larger elastic coefficient of spring than viscous coefficient, we confirmed the result has the equal vibration of general joystick (under-damping). In opposite case, joystick returned to origin point with excessive force. As a application of non-vibration joystick, we experimented wall-following controlling. In this trial, we corroborated that joystick follows smoothly around the corridors.