• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.457-463
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• 2006

Recently proposed control scheme for a stable teleoperation, which was based on two-port time-domain passivity approach[21], has been successful for a contact with high stiffness environments. However, we found several conservatisms during the contact with deformable environments and unconstrained motion. The two-port time-domain passivity controller was excessively dissipating energy even though it was not necessary for some cases of an unconstrained motion and soft contact. The main reason of those conservatisms was on the fact that the two-port time-domain passivity controller was activated without considering the amount of energy dissipation at the master and slave manipulators. Especially, the exclusion of the slave manipulator from the two-port was the dominant reason of the conservatisms. In this paper, we consider the amount of energy dissipation at slave manipulator for designing the time-domain passivity observer and controller. The measured interaction force between slave manipulator and environment allow the time-domain passivity observer to include the amount of energy dissipation at the slave manipulator. Based on the modified passivity observer, reference energy following method[24] is applied to satisfy the passivity condition in real-time. The feasibility of the developed methods is proved with experiments. Improved performance is obtained for an interaction with deformable environments and an unconstrained motion.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.744-747
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• 1997

High performance digital computer technology enables the digital computer-based controllers to replace traditional analog controllers used for factory automations. This replacement, however, brings up the side effects caused by discrete quantization and non-real-time execution of control softwares. This paper describes the structure of real-time simulator and controller that can be used for design and verification of real-time digital controllers. The virtual machine concept adopted by real-time simulator make the proposed simulator be independent from the specific hardware platforms. The proposed system can also be used in the loosely coupled distributed environments connected through local area network using real-time message passing algorithm and virtual data table based on the shared memory mechanism.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.10a
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• pp.15-20
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• 2004

In this paper, design approach of PID controller with rejection function against external disturbance in motor control system is proposed using bacterial foraging based optimal algorithm. Up to the present time, PID Controller has been used to operate for AC motor drive because of its implementational advantages in practice and simple structure. However, it is not easy to achieve an optimal PID gain with no experience, since the gain of the PID controller has to be manually tuned by trial and error in the industrial system with disturbance. To design disturbance rejection tuning, disturbance rejection conditions based on H$\_$$\infty$/ are illustrated and the performance of response based on the bacterial foraging is computed for the designed PID controller as ITSE (Integral of time weighted squared error). Hence, parameters of PID controller are selected by bacterial foraging based optimal algorithm to obtain the required response.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.1018-1021
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• 2006

This paper presents an LMI-based method to design sliding mode observers for a class of uncertain time-delay systems. Using LMIs we derive an existence condition of a sliding mode observer guaranteeing a stable sliding motion. And we give explicit formulas of the observer gain matrices. Finally, we give a simple LMI-based design algorithm, togeter with a numerical design example.

• Earthquakes and Structures
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• v.24 no.1
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• pp.1-9
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• 2023

A model for calculating structure interacted mechanics is proposed. A structural interaction model and controller design based on tuned mass damping (TMD) was developed to control the induced vibration. A key point is to introduce a new analytical model to evaluate the properties of the TMD that recognizes the motion-dependent nonlinear response observed in the simulations. Aiming at the problem of increased current harmonics and low efficiency of permanent magnet synchronous motors for electric vehicles due to dead time effect, a dead time compensation method based on neural network filter and current polarity detection is proposed. Firstly, the DC components and the higher harmonic components of the motor currents are obtained by virtue of what the neural network filters and the extracted harmonic currents are adjusted to the required compensation voltages by virtue of what the neural network filters. Then, the extracted DC components are used for current polarity dead time compensation control to avert the false compensation when currents approach zero. The neural network filter method extracts the required compensation voltages from the speed component and the current polarity detection compensation method obtains the required compensation voltages by discriminating the current polarity. The combination of the two methods can more precisely compensate the dead time effect of the control system to improve the control performance. Furthermore, based on the relaxed method, the intelligent approach of stability criterion can be regulated appropriately and the artificial TMD was found to be effective in reducing cross-wind vibrations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.472-477
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• 1996

This paper presents a new approachtothe design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2102-2107
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• 2005

In this paper, a real-time optimization method for nonlinear dynamical systems is proposed. The proposed method is based on the algorithms of numerical solutions for optimal control problems. We deal with a real-time collision-free motion control of a nonholonomic mobile robot, which has input restrictions of actuators. The effectiveness of the algorithmic method is demonstrated through numerical and experimental results. The mobile robot which we have developed is able to avoid moving obstacles skillfully. Therefore the proposed controller works well in real time.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.4
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• pp.517-524
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• 1998

This paper discusses the development of a reactive power controller using digital signal processing. Digital Signal Processing is the technique of using digital devices to Process continuous signals or data, often in real-time. And DSP algorithms are associated with a discrete time interval between input samples. When one designs a digital filter, one can use a Laplace transform to determine the continuous time frequency response. The corresponding discrete time transform is called Z transform and depends upon discrete samples of the input spaced equally in time. The objectives of this paper are to minimize real power losses and improve the power factor of a given system. Also, the implementation of a direct-form non recursive filter on the TMS320C31 has been described. The application of this microprocessor-based controller using DSP on test system reveals its numerous advantages. Performance and features of the controller for the reactive power control are analyzed.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39B no.10
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• pp.629-644
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• 2014

The goal of this paper is to consider a co-design approach between time delay compensation and the message scheduling for CAN-Based Networked Control Systems (NCS). First we propose a hybrid priority scheme for the message scheduling in order to improve the Quality of Service (QoS). Second we present the way to calculate the closed-loop communication time delay and then compensate this time delay using the pole placement design method in order to improve the Quality of Control (QoC). The final objective is the implementation of a co-design which is the combination of the compensation for communication time delays and the message scheduling in order to have a more efficient NCS design.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.186-193
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• 2017

KOSMOS is Korea Open Source MOtion System which is developed based on general purpose hardware and open source software. It is aiming at IEC 61131-3 standard. Real-time ethernet has several advantages for motion control system and distributed control system. So, considering this advantages, KOSMOS has the network interface made up of Real-time ethernet, EtherCAT. In this paper, we explain the KOSMOS platform, the performance for real-time task and show the real case applying KOSMOS platform in manipulator control system.