• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.98-100
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• 2005

DSPs used at motor control are usually fixed point processor. They need scaling because they cannot excute floating point calculation. Scaling for floating point calculation makes the DSP's speed down, complex coding and etc. Therefore the IQ math is adopted. IQ math makes the fixed point processor possible to calculate the floating point math. In addition, IQ math can reduce memory usage and be more faster than that without IQ math. It seems that IQ math is appropriate in motor position control. In comparison of the position calculation between the IQ math, math function and the sine table, the method using IQ math is superior than other methods.

• 대한기계학회논문집
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• 제16권7호
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• pp.1307-1313
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• 1992

본 연구에서는 유연한 조작기의 끝점 위치 제어를 위해 LQG/LTR 제어법을 적 용함으로서 기존의 고전적 제어방법과 비교하고자 한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.314-316
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• 2001

This paper present the position control method for the application of permanent magnet linear synchronous motor. Controller is designed as a conventional P-PI controller, but the extra information is used such as velocity and acceleration from motion profiles. The profiles comes from S-Curve which is an optimized point-to-point motion profiles to achieve fast motions with minimum vibration[2]. In this application, the targets of the position control are maximum 10um position error within 10msec after respective ending point of position profiles. The implementation of the controller has been done in full digital way. All the controller is designed on the DSP TMS320VC33 control board. To prove performance of the controller, the experiment was performed with a servo linear motor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.451-456
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• 1991

A robust position control scheme for DC Motor is proposed based on Fuzzy Acceleration Control. Proposed control system has the similar structure that Y. Hori proposed. But the PI type acceleration controller of it is replaced by Fuzzy Logic Controller(FLC) which is known to be robust to the operating point and parameter variations. By the simulation study for a real DC Motor, we have slowed the superiority to the continuous PI acceleration controller in the view point of robustness to the operating point and parameter variations.

• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.235-241
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• 2007

This paper proposes a self-calibration method of robots those are used in industrial assembly lines. The proposed method is a position compensation using laser sensor and vision camera. Because the laser sensor is cross type laser sensor which can scan a horizontal and vertical line, it is efficient way to detect a feature of vehicle and winding shape of vehicle's body. For position compensation of 3-Dimensional axis, we applied block interpolation method. For selecting feature point, pattern matching method is used and 3-D position is selected by Euclidean distance mapping between 462 feature values and evaluated feature point. In order to evaluate the proposed algorithm, experiments are performed in real industrial vehicle assembly line. In results, robot's working point can be displayed 3-D points. These points are used to diagnosis error of position and reselecting working point.

• 대한전기학회논문지
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• 제44권4호
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• pp.447-452
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• 1995

In this paper a simple method of a position control for brushless DC motor is presented. For precise position control, a high performance torque controller is needed and a novel current control method is proposed. The current controller detects the uncommutating mode current for every 60.deg. (elec. angle) and controls it with PI controller. The current control loop includes the feedforward of back EMF and the feedforward of the neutral voltage between the neutral point of the inverter and the neutral point of the machine. In the position control, the acceleration pattern is calculated from the position reference. Then the speed trajectory is calculated from the acceleration pattern. The experimental results are presented to verify the proposed methods.

• 한국안전학회지
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• 제15권3호
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• pp.115-123
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• 2000

공압구동기는 다양한 형태의 위험작업 환경하에서 사용되고 있다. 또한, 공압구동기를 적용한 공정은 일반적으로 환경친화적인 것으로 인식되고 있다. 대부분의 경우, 공압구동기는 point to point 제어에 사용된다. 그러나, 최근 공압구동기의 정밀 위치제어에 관한 많은 연구가 수행되고 있다. 본 연구에서는 비례밸브로 구성된 공압구동기의 추종위치제어에 관하여 논의한다. 제안되는 제어기는 압력제어 루프와 위치제어 루프로 구성된다. 공기의 압축성에 기인한 비선형성을 상쇄하기 위하여 되먹임선형화에 의한 PID제어기가 압력제어 루프에 사용된다. 위치제어에는 신경회로망을 사용하여 비선형성을 보상한 PID제어기가 사용된다. 실험결과에 의하면, 제안된 제어기는 공압구동기의 추종성능을 대폭 향상시킬 수 있는 것으로 나타났다.

• Journal of Biosystems Engineering
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• 제32권5호
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• pp.284-291
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• 2007

This study was to investigate performance of position, basic controls and additional control for man-machine interface on a 3-point hitch of a tractor. The developed additional control was one-touchup, backup, turnup, liftarm limited, PTO on/off and an external control. As a result of experiment, maximum steady state error of response system was lower than $0.8^{\circ}$ and this result showed the function operated normally because the dead band of system set was ${\pm}1^{\circ}$. There was no abnormal situation by switch operation and sensor signal during the performance test. The results of experiment showed the characteristics of the response was sufficient to be used as the position and additional control system for tractors.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제12권3호
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• pp.238-244
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• 2012

A modeling of vision based robot formation control system using fuzzy logic controller and extended Kalman filter is presented in this paper. The main problems affecting formation controls using fuzzy logic controller and vision based robots are: a robot's position in a formation need to be maintained, how to develop the membership function in order to obtain the optimal fuzzy system control that has the ability to do the formation control and the noise coming from camera process changes the position of references view. In order to handle these problems, we propose a fuzzy logic controller system equipped with a dynamic output membership function that controls the speed of the robot wheels to handle the maintenance position in formation. The output membership function changes over time based on changes in input at time t-1 to t. The noises appearing in image processing change the virtual target point positions are handled by Extended Kalman filter. The virtual target positions are established in order to define the formations. The virtual target point positions can be changed at any time in accordance with the desired formation. These algorithms have been validated through simulation. The simulations confirm that the follower robots reach their target point in a short time and are able to maintain their position in the formation although the noises change the target point positions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.600-605
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• 1989

A theoretical study is presented for the end-point holding control of a one-link flexible arm, whose base is subjected to a lateral fluctuation. The arm is clamped on a rigid hub mounted directly on the shaft of d.c. servomoter. The tip position is measured by a gap sensor fixed in space isolated from the system vibration. The arm is controlled so as to make the end point stay precisely at its initial position even if the base is fluctuated.