• Journal of Electrical Engineering and Technology
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• 제10권3호
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• pp.958-964
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• 2015

This paper implements a model of a double excited three-degree-of-freedom motor (3-DOF) coupled with a PI current controller for position control. The rotational trends of the rotor according to the applied steps are identified using a motion equation. The simulation model is a complete electrical and mechanical model of a 3-DOF motor, which mainly consists of mechanical torque equations, a nonlinear equivalent magnetic circuit, and a PI current controller. This machine is tested using the manufactured control board using the same conditions as in the simulation, where the experimental results also verify the accuracy of the simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.92-92
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• 2000

Helicopter offer the signigicant advantage over traditional air vehicles, in that the provide extended maneuverability, such as vertical climb, hovering, longitudinal and lateral flight, hovering turns and bank turns. But helicopter have the strong cross couplings and nonlinearities for each lateral, longitudinal and rotational motion mutually. However, it is possible to ignore this couplings for the hovering condition, so using this properties we can control the attitude of helicopter. That is, by implementing the dynamic of each rotational axis(roll, pitch, yaw) of independent mutually, 3-DOF(degree of Freedom) attitude control for the helicopter is possible. In this paper, we identify decoupled input-coutput relations of each three rotational axis about the helicopter mounted on the 3-DOF gimbal by experiment, and on these basis implement 3-DOF attitude controller using the PID control method.

• Smart Structures and Systems
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• 제10권4_5호
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• pp.313-329
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• 2012

A challenging issue in design and implementation of an effective structural health monitoring (SHM) system is to determine where a number of sensors are properly installed. In this paper, research on the optimal sensor placement (OSP) is carried out on the Canton Tower (formerly named Guangzhou New Television Tower) of 610 m high. To avoid the intensive computationally-demanding problem caused by tens of thousands of degrees of freedom (DOFs) involved in the dynamic analysis, the three dimension finite element (FE) model of the Canton Tower is first simplified to a system with less DOFs. Considering that the sensors can be physically arranged only in the translational DOFs of the structure, but not in the rotational DOFs, a new method of taking the horizontal DOF as the master DOF and rotational DOF as the slave DOF, and reducing the slave DOF by model reduction is proposed. The reduced model is obtained by IIRS method and compared with the models reduced by Guyan, Kuhar, and IRS methods. Finally, the OSP of the Canton Tower is obtained by a kind of dual-structure coding based generalized genetic algorithm (GGA).

• 한국정밀공학회지
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• 제32권6호
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• pp.543-551
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• 2015

In this study, a novel method for dimension measurement of large-scale moving objects using stereo camera with 2-degree of freedom (2-DOF) mechanism is presented. The proposed method utilizes both the advantages of stereo vision technique and the enlarged visibility range of camera due to 2-DOF rotary mechanism in measuring large-scale moving objects. The measurement system employs a stereo camera combined with a 2-DOF rotary mechanism that allows capturing separate corners of the measured object. The measuring algorithm consists of two main stages. First, three-dimensional (3-D) positions of the corners of the measured object are determined based on stereo vision algorithms. Then, using the rotary angles of the 2-DOF mechanism the dimensions of the measured object are calculated via coordinate transformation. The proposed system can measure the dimensions of moving objects with relatively slow and steady speed. We showed that the proposed system guarantees high measuring accuracy with some experiments.

• 전기학회논문지
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• 제63권1호
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• pp.162-172
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• 2014

A three-dimensional dynamic model for simulating various motions of full vehicle is presented. The model has 16 independent degrees of freedom (DOF) consisting of three kinds of components; a vehicle body of 6 DOF, 4 independent suspensions equipped at every corner of the body, and 4 tire models linked with each suspension. The dynamic equations are represented in six coordinate frames such as world fixed coordinate, vehicle fixed coordinate, and four wheel fixed coordinate frames. Then these lead to the approximated prediction model of vehicle posture. Both lateral and longitudinal dynamics can be computed simultaneously under the conditions of which various inputs including steering command, driving torque, gravity, rolling resistance of tire, aerodynamic resistance, etc. are considered. It is shown through simulations that the proposed 3D model can be useful for precise design and performance analysis of any full vehicle control systems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.809-811
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• 1999

The three-mode PID controller is widely used in plant because control algorithm is simple and tuning method is general. But the conventional PID controller can not have the both purpose of setpoint tracking and disturbance rejection at the same time. In this paper, we studied the application 2DOF PID controller to pneumatic control valve through simulation and experiments. Results are Presented a satisfactory response

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권12호
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• pp.4305-4323
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• 2014

In this paper, we investigate the degrees of freedom (DOF) of the Y channel consisting of three single-antenna users and a two-antenna common access relay, where each user intends to exchange independent messages with the other two users with the assistance of the relay. We show that the DOF of this particular scenario is 1.5. In order to prove this result, we firstly derive a DOF upper bound based on cut-set bound by allowing cooperation among users, which shows that the total DOF is upper bounded by 1.5. Then we propose a novel transmission scheme based on asymmetric signal space alignment (ASSA) to demonstrate the achievability of the upper bound. Theoretical evaluation and numerical results confirm that the upper bound can be achieved by utilizing ASSA, which also proves the optimality of the ASSA-based scheme in terms of DOF. Combining the upper bound and achievability, we conclude that the exact DOF is 1.5. Moreover, we present a novel iterative joint beamforming optimization (I-JBO) algorithm to further improve the sum rate. Numerical simulations have been provided to demonstrate the convergence speed and performance advantage of the I-JBO algorithm.

• 한국산업융합학회 논문집
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• 제21권1호
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• pp.37-44
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• 2018

In this work, a 4-DOF industrial robot system with three translational and one rotational motions which is widely used in palletizing applications is developed. In order for small robot manufacturing companies to develop their own robot systems for CNC machining and/or general automations, the analysis and design methods of a 4-DOF robot manipulator are presented and the development of a PC-based robot controller with EtherCAT are introduced. It is noted that the robot controller is developed by using Simulink Real-Time, which can provide an integrated environment of easier control algorithm development and data logging. Through position control and accuracy/repeatability measurement results, the developed robot prototype has comparable performances with commercial counterparts. In the future works, the advanced functions of industrial robots such as kinematic calibration, vibration suppression control, computed torque control, etc. will be investigated.

• 제어로봇시스템학회논문지
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• 제22권3호
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• pp.177-185
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• 2016

This paper presents a method to design a controller for active suspension with 1-DOF decoupled models. Three 1-DOF decoupled models describing vertical, roll and pitch motions are used to design a controller in order to generate a vertical force, roll and pitch moments, respectively. These control inputs are converted into active suspension forces with geometric relationship. To design a controller, a sliding mode control is adopted. Frequency domain analysis and simulation on vehicle simulation software, CarSim$^{(R)}$, show that the proposed method is effective for ride comfort.

• 디지털산업정보학회논문지
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• 제8권1호
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• pp.1-7
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• 2012

In this paper Vehicle driving simulator have been used in the development and modification of models. A real-time simulation system and washout algorithm for an excavator have been developed for a driving simulator with six degrees of freedom. An interesting question, "how the 6 DOF Driving Simulator can be controlled optimally for the various tasks?" is not easy to be answered. This paper presents the hardware and software developed for a driving simulator of construction vehicle. A simulator can reduce cost and time a variety of driving simulations in the laboratory. Using its 6 DOF Simulator can move in various modes, and perform dexterous tasks. Driving simulators have begun to proliferate in the automotive industry and the associated research community. This effort involves the real-time dynamic of wheel-type excavator the design and manufacturing of the Stewart platform an integrated control system of the platform and three-dimensional graphic modeling of the driving environments.