• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.744-747
• /
• 2005

This research studied 6-Axes Articulated Robot Manipulator's gain Tuning in consideration of dynamic. First of all, search fur proportional gain of velocity control loop by dynamic signal analyzer. Proportional gain of velocity control loop is connected to dynamic signal analyzer. Next Select free Proportional Gain value. And Select amplitude X of sinusoidal properly so that enough Velocity Feedback Signal may be paid as there is no group to utensil department. Next step, We can get Bode Diagram of Closed loop transfer function response examination in interested frequency. Integral calculus for gain of velocity loop is depended on integral calculus correction's number. We can obtain open loop transfer function by integrator. And we can know bode diagram's special quality from calculated open loop transfer function. With this, Velocity Control Loop's Parameter as inner loop is controlled. Next In moving, when vibration occurs, it controls notch filter. And finally, we have to control fred-forward filter parameter for elevation of control performance.

• Journal of Sensor Science and Technology
• /
• v.24 no.2
• /
• pp.93-95
• /
• 2015

We present an optical detection method for the fundamental vibrational mode of a tuning fork crystal oscillator in air. A focused He/Ne laser beam is directed onto the edge of one vibrating tine of the tuning fork; its vibrating motion chops the incoming laser beam and modulates the intensity. The beam with modulated intensity is then detected and converted to an electrical signal by a high-speed photo-detector. This electrical signal is a sinusoid at the resonant frequency of the tuning fork vibration, which is 32.76 kHz. Our scheme is robust enough that the sinusoidal signal is detectable at up to $40^{\circ}$ of rotation of the tuning fork.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.15 no.8 s.101
• /
• pp.954-961
• /
• 2005

This paper is concerned with the implementation of auto-tuning positive position feedback controller using a digital signal processor and microcontroller. The main advantage of the positive position feedback controller is that it can control a natural mode of interest by tuning the filter frequency of the positive position feedback controller to the natural frequency of the target mode. However, the positive position feedback controller loses its advantage when mistuned. In this paper, the fast fourier transform algorithm is implemented on the microcontroller whereas the positive position feedback controller is implemented on the digital signal processor. After calculating the frequency which affects the vibrations of structure most, the result is transferred to the digital signal processor. The digital signal processor updates the information on the frequency to be controlled so that it can cope with both internal and external changes. The proposed scheme was installed and tested using a beam equipped with piezoceramic sensor and actuator. The experimental results show that the auto-tuning positive position feedback controller proposed in this paper can suppress vibrations even when the target structure undergoes structural change thus validating the approach.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.23 no.3
• /
• pp.318-324
• /
• 2014

Recent years have witnessed a growing demand for a wide variety of high-performance industrial robots. In this paper, for accurate gain tuning of a 6-axis articulated industrial robot with reduced noise, a program routine for a dynamic signal analyzer (DSA) using the frequency response method will be programmed using $LabVIEW^{(R)}$. Then, robot transfer functions can be obtained experimentally using the frequency response method with the DSA program. Data from the robot transfer functions are transformed into Bode plots, based on which an optimal gain tuning will be executed. Gain tuning can enhance the response quality of the output signal for a given input signal during real-time control of the robot. The effectiveness of our proposed technique will be verified by implementation with a (lab-manufactured) 6-axis articulated industrial robot (hereinafter called "RS2") and comparison with the zero position gain tuning, as well as other positions.

• Journal of the Institute of Convergence Signal Processing
• /
• v.4 no.4
• /
• pp.52-57
• /
• 2003

A PID parameter tuning method was presented by the fuzzy singleton inference, based on step response-shaping of plant and experience knowledge of expert. The parameter-tuning has tow levels. The higher level determines modified coefficients for the controller based on operator's tuning know-how for characteristics of plant which can not be modeled. The lower level determines specified coefficients based on characteristics of response by Ziegler-Nickel's bounded sensitivity method. The last level parameters tuning of a PID controller is adjusted which the modified and specified coefficients makes adjustment rule, and is adjusted the proper value to each parameters by fuzzy singleton inference. Moreover, proposed the tuning method can reflex exporter knowledge and operator's tuning know-how and fuzzy singleton inference is rapidly operated.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1996.10a
• /
• pp.150-155
• /
• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using digital signal processors for robot manipulators. TMS3200C50 is used in implementing real-time adaptive control algorithms provide advanced performance for robot manipulator. In this paper an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm and controller parameters are detemined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.11a
• /
• pp.754-758
• /
• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS320C50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator, In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters we determined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.05a
• /
• pp.271-272
• /
• 2006

This paper presented a new experimental gain tuning technique for a Multi-Axis Servo System. First, the investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer (DSA) was performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function was obtained. In turn, the integral gain of a servo controller can be found out by using the Integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller has been obtained by using the Bode plot of the closed loop transfer function. We have also proposed the technique to find out an optimal parameter of a notch filter, which has a great influence on vibration reduction, by using the damping factor extracted from the Bode plot of closed loop transfer function.

• Proceedings of the IEEK Conference
• /
• 2001.09a
• /
• pp.95-98
• /
• 2001

The adaptive line enhancer (ALE) is widely used for enhancing narrowband signals corrupted by broadband noise. In this paper, we propose novel ALE methods to improve the enhancing capability. The proposed methods are motivated by the fact that the output of the ALE is a fine estimate of the desired narrowband signal with the broadband noise component suppressed. The proposed methods preprocess the input signal using ALE filter to regenerate a finer input signal. Thus the proposed ALE is driven by the input signal with higher signal-to-noise ratio (SNR). The analysis and simulation results are presented to demonstrate that the proposed ALE has better performance than conventional ALE´s.

• Journal of Power Electronics
• /
• v.10 no.3
• /
• pp.306-312
• /
• 2010

In this paper, the design of an optimum single input Fuzzy controller for application in dc to ac converters is presented. Contrary to conventional Fuzzy controllers, the proposed controller has a smaller number of rules and tuning parameters but is capable of performing identically to a conventional controller. These benefits lead to a simpler controller design. The controller is designed as a PI controller for small-signal disturbances. However, for optimum large-signal performance, heuristic tuning is used. The tuning is less complicated and hence optimum large-signal performance is achievable. The system is simulated and a hardware prototype was developed for comparison purposes.