• Journal of Power System Engineering
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• v.18 no.4
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• pp.91-96
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• 2014

The application of the recent model-based control schemes for robot manipulators require the solution of problems concerning various aspects, from the mechanical design to the necessity of determining a robot model suitable for control, and of experimentally testing the control performances. For one solution, integration of SolidWorks with Simscape for designing and controlling robot manipulators is presented in this paper. The integration provides a platform for rapid control prototyping of robot manipulators without the need for building real prototypes. Mechanical drawings of a robot are first created using Solidworks and imported into the Simscape, where a robot is represented by connected block diagrams based on the principle of physical modeling. Simulation examples for 7-DOF SAM ARM made by Berrett Technology Inc. are testified to show effectiveness of the presented platform.

• Journal of Mechanical Science and Technology
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• v.20 no.2
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• pp.278-285
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• 2006

The present study has been conducted to simulate dynamics of a gas engine-driven heat pump (GHP) for design of control algorithm. The dynamics modeling of a GHP was based on conservation laws of mass and energy. For automatic control of refrigerant pressures, actuators such as engine speed, outdoor fans, coolant three-way valves and liquid injection valves were PI or P controlled. The simulation results were found to be realistic enough to apply for control algorithm design. The model can be applied to build a virtual real-time GHP system so that it interfaces with a real controller in purpose of prototyping control algorithm.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.1
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• pp.16-23
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• 2016

The EWB(electronic wedge brake) is one in which the braking force is developed in a wedge and caliper system and applied to a disk and wedge mechanism. The advantage of the wedge structure is that it produces self-reinforcing effect and hence, utilizes minimal motor power, resulting in reduced gear and current. The extent of use of clamping force sensors and protection from failure of the EWB system directly depends on the level of vehicle mass production. This study investigated the mathematical equations, simulation modeling, and failsafe control algorithm for the clamping force sensor of the EWB and validated the simulations. As this EWB system modeling can be applied to motor inductance, resistance, screw inertia, stiffness, and wedge mass and angle, this study could improve the accuracy of simulation of the EWB. The simulation results demonstrated the braking force, motor speed, and current of the EWB system when the driver desired to the step and pulse the brake force inputs. Moreover, this paper demonstrated that the proposed failsafe control algorithm accurately detects faults in the clamping force sensor, if any.

• Coupled systems mechanics
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• v.11 no.1
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• pp.79-91
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• 2022

Models for water treatment processes include simulation, i.e., modelling of water quality, flow hydraulics, process controls and design. Water treatment processes are inherently dynamic because of the large variations in the influent water flow rate, concentration and composition. Moreover, these variations are to a large extent not possible to control. Mathematical models and computer simulations are essential to describe, predict and control the complicated interactions of the water treatment processes. An accurate description of such systems can therefore result in highly complex models, which may not be very useful from a practical, operational point of view. The main objective is to combine knowledge of the process dynamics with mathematical methods for processes estimation and identification. Good modelling practice is way to obtain this objective and to improve water treatment processes(its understanding, design, control and performance- efficiency). By synthesize of existing knowledge and experience on good modelling practices and principles the aim is to help address the critical strategic gaps and weaknessesin water treatment models application.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2606-2611
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• 2003

Comprehensive study on the control system design for a RTP process has been conducted. The purpose of the control system is to maintain maximum temperature uniformity across the silicon wafer achieving precise tracking for various reference trajectories. The study has been carried out in two stages: thermal balance modeling on the basis of a semi-empirical radiation model, and optimal iterative learning controller design on the basis of a linear state space model. First, we found through steady state radiation modeling that the fourth power of wafer temperatures, lamp powers, and the fourth power of chamber wall temperature are related by an emissivity-independent linear equation. Next, for control of the MIMO system, a state space modeland LQG-based two-stage batch control technique was derived and employed to reduce the heavy computational demand in the original two-stage batch control technique. By accommodating the first result, a linear state space model for the controller design was identified between the lamp powers and the fourth power of wafer temperatures as inputs and outputs, respectively. The control system was applied to an experimental RTP equipment. As a consequence, great uniformity improvement could be attained over the entire time horizon compared to the original multi-loop PID control. In addition, controller implementation was standardized and facilitated by completely eliminating the tedious and lengthy control tuning trial.

• ICROS
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• v.8 no.4
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• pp.25-33
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• 2002

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.6
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• pp.42-50
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• 2006

This paper addresses the optimized thermal modeling methodology for spacecraft board level thermal analysis. A direct thermal modeling of external and internal structure of active parts which have high power dissipation is newly proposed, based on conventional plate modeling for Printed Circuit Board(PCB). The parts thermal modeling results were compared with other generic methodologies and verified by thermal vacuum test. This parts thermal modeling was directly applied to thermal analysis of CS(Communication Subsystem) board of HAUSAT-2 small satellite. As a result, it was confirmed that the parts thermal modeling can complement other conventional modeling methodologies. A parts thermal modeling is very effective for thermal control design, since the existing thermal problems can be solved at the parts level in advance.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.1-10
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• 2003

This paper presents a high-precision magnetically levitated (maglev) stage to meet demanding motion specifications in the next-generation precision manufacturing and nanotechnology. Characterization of dynamic behaviors of such a motion stage is a crucial task. In this paper, we address the issues related to the stochastic modeling of the stage including transfer function identification, and noise/disturbance analysis and prediction. Provided are test results on precision dynamics, such as fine settling, effect of optical table oscillation, and position ripple. To deal with the dynamic coupling in the platen, we designed and implemented a multivariable linear quadratic regulator, and performed time-optimal control. We demonstrated how the performance of the current maglev stage can be improved with these analyses and experimental results. The maglev stage operates with positioning noise of 5 nm rms in $\chi$ and y, acceleration capabilities in excess of 2g(20 $m/s^2$), and closed-loop crossover frequency of 100 Hz.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.7
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• pp.591-597
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• 2001

In this paper, we propose a method of cooperative control (T-cell modeling) and selection of group behavior strategy (B-cell modeling) based on immune system in distributed autonomous robotic system (DARS). Immune system is living body's self-protection and self-maintenance system. These features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For applying immune system to DARS, a robot is regarded as a B-cell, each environmental condition as an antigen, a behavior strategy as an antibody and control parameter as a T-cell respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy. And its behavior strategy is stimulated and suppressed by other robot using communication. Finally much stimulated strategy is adopted as a swarm behavior strategy. This control school is based on clonal selection and idiotopic network hypothesis. And it is used for decision making of optimal swarm strategy. By T-cell modeling, adaptation ability of robot is enhanced in dynamic environments.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1466-1474
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• 2003

This paper presents a system modeling, controller design and implementation for a rotational inverted pendulum system (RIPS), which is an under-actuated system and has the problem of unattainable velocity state. Two control strategies are applied to the RIPS. One is a sliding mode control method using the parameterization of both the hyperplane and the compensator for output feedback. The other is the disturbance observer which estimates disturbance and some modeling errors of RIPS with less computational effort. Some simulations and various kinds of experiments are performed in order to verify that the proposed controller has the ability to control RIPS whose velocity is assumed to be unavailable. The results of the simulations and experiments show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions as well as the robustness to model uncertainties.