• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 A
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• pp.334-336
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• 1995

An adaptive feedback linearization technique of a PM synchronous motor with specified output dynamic performance is proposed. The adaptive parameter estimation is achieved by a model reference adaptive technique where the stator resistance and flux linkage can be estimated with the current dynamic model and the state observer. Using these estimated parameters, the linearizing control inputs are calculated and a nonlinear coupled model of a PM synchronous motor is input-output linearized. The resultant model has the load torque disturbance. To get ti perfect decoupled model, the load torque is estimated. The adaptation laws are derived by the hyperstability theory and positivity concept. The robustness of the proposed control scheme will be proven through the computer simulations.

• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• 한국해양학회지:바다
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• 제13권3호
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• pp.246-251
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• 2008

심해저 망간단괴 집광시스템(이하, 집광시스템)의 개념설계가 공리적 설계(Axiomatic Design)의 관점에서 평가되었다. 또한 이미 수행된 집광시스템의 개념설계에 대해 기능적 영역의 기능요구와 물리적 영역의 설계파라미터가 구체화되었다. 기능요구와 설계파라미터의 상호관계는 첫 번째 수준 계층에서 하위 수준 계층으로 순차적으로 분석되었다. 이러한 상호관계는 설계행렬의 형태로 표현되었고 기능요구와 설계파라미터 사이의 독립성을 판단하기 위한 지표로 사용되었다. 설계행렬의 분석결과 본 집광시스템은 설계파라미터간에 연성이 되지 않는 비연성화된 설계임이 확인되었다. 결과적으로, 본 집광시스템은 독립공리(Independence Axiom)를 만족하는 잘된 설계임이 개념적으로 입증되었다.