• Journal of Advanced Marine Engineering and Technology
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• 제13권3호
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• pp.26-36
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• 1989

Recently digital governor system is commonly adapted for the speed control of the marine diesel engine because of too much fluctuation of rpm resulted by the low speed, long stroke, high efficiency and a small number of cylinder of it, and versatile studies on the development of digital governor system are progressed. On this subject the new control method in which the fuel is controlled by feedforwarding the change of load as well as the feedback of angular velocity in case of disregarding the engine dead time and influence of scavenging air was proposed by the authors, and found the method has shown quite a good control performance in comparision to the conventional control method by the simulation using a digital computer for various load change. In this paper the speed control system of a diesel engine is simulated in case of regarding the engine dead time by the proposed method, and also confirm a good control performance of it under even more realistically simulated environment.

• 제어로봇시스템학회논문지
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• 제6권4호
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• pp.295-304
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• 2000

In the teleoperation system, force and velocity signals are communicated between a master and a slave robot. The addition of force feedback to a teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The control scheme proposed in this paper is based on the estimator with virtual master model. Delayed signal from the master robot can be replaced by the estimated signal with the virtual master model. This control scheme makes the teleoperation system stable for the given time delay while the conventional scheme is not. This new control scheme is verified through numerical simulations and an experiments using the dual axis testbed of the teleoperation system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(3)
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• pp.37-40
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• 2002

Intelligent Wearable Module is intelligent system that arises when a human is part of the feedback loop of a computational process like a certain control system. Applied system is mobile robot. This paper represents the mobile robot control system remote controlled by Intelligent Wearable Module. So far, owing to the development of internet technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment, We propose a control method activated by Intelligent Wearable Module. In a proposed system, PDA acts as a user interface to communicate with notebook as a controller of the mobile robot system using TCP/IP protocol, and the notebook controls the mobile robot system. Tlle information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the fuzzy inference engine.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.315-317
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• 2006

In addition to accurate position and velocity control, force control is necessary for a successful robot operation. In this paper, we have designed a simple robot gripper using a DC motor. For its force control, a current feedback control law is presented without using additional force sensors. Experimental results prove the effectiveness of the proposed control law. A digital controller is also developed with a TMS320LF2406 processor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 하계학술대회 논문집
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• pp.504-509
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• 1990

This paper presents a decentralized adaptive control scheme for multi-Joint robot manipulators based on the independent joint control scheme. The control object is to achieve accurate tracking of desired Joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simple by a feedback controller which ensure stable and also a position-velocity-acceleration feedforward controller and also auxiliary signal, with adjustable gains. Simulation results are given for a two-link manipulator under independent control, proposed decentralized adaptive control of manipulator is feasible. In spite of a pay load variation and strong static and dynamic couplings that exist between the joints.

• 한국정밀공학회지
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• 제17권1호
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• pp.34-44
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• 2000

In this paper, a modified skyhook control for the semi-active Macpherson suspension system is investigated. A new model for the semi-active type suspension, which incorporates the rotational motion of the unsprung mass, is introduced and an output feedback control law using the skyhook control method is derived. The gains in the skyhook controller are adaptively adjusted by estimating the road conditions. Because two vertical acceleration sensors, one for the sprung mass and another for the unsprung mass, are used rather than using the angle sensor for the rotational motion of the control arm, the relative velocity of the rattle space is filtered using the acceleration signals. For testing the control performance, the actual damping force has been incorporated via the hardware-in-the-loop simulations. The performances of a passive damper and a semi-active damper are compared. Simulation results are provided.

• Journal of Advanced Marine Engineering and Technology
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• 제34권2호
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• pp.310-317
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• 2010

본 논문은 전형적 비선형 시스템인 셀프 이렉팅 도립진자 시스템의 스윙업과 안정화에 대한 제어 방법을 제안한다. 펜던트 상태의 진자를 PV 제어기를 이용하여 스윙업 시키고, 진자가 적절한 위치에 도달했을 경우 PI형 상태피드백 제어기로 스위칭하여 진자가 넘어지지 않게 유지시키도록 한다. 시뮬레이션을 통하여 제안한 제어기법의 유효성을 확인한다.

• 한국전자통신학회논문지
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• 제13권1호
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• pp.93-100
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• 2018

본 연구는 정밀한 각속도 추종을 위해 토크오차를 보상하는 제어기와 구현에서 제어기의 안정성을 보완하는 방법을 제안한다. 또한 설계된 제어기가 점근적인 안정할 수 있음을 리아프노프 안정도이론에 근거하여 증명하였다. 제안된 제어기는 d축 기준전류를 임의 값에 대한 제어가 가능하고, 속도이득과 전류이득의 두 가지로 손쉽게 제어성능을 달성할 수 있도록 하였다. 약 750W급의 IPMSM에 적용한 결과 레퍼런스 속도 1200[RPM]에 대한 정상상태 오차는 0.1[%]이내이며, 약 5[Nm]의 상수부하에서 약 0.2초 이내에 외란을 극복하여 점근적인 안정한 제어기임을 확인 할 수 있다.

• 한국해양공학회지
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• 제27권6호
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• pp.56-64
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• 2013

Crabbing motion is the pure sway motion of a ship without surge velocity. Thus, it can be applied to a berthing operation. Crabbing motion is induced by a peculiar operation method called the push-pull mode. The push-pull mode is induced by using a combination of the main propeller and side thruster. Two propellers generating the same amounts of thrust and rotating in opposite directions produce some yawing moment on a vessel but do not induce longitudinal motion. With the additional operation of side thrusters, the push-pull mode is used to induce a large amount of lateral force. In this paper, three-degree-of-freedom equations of motion such as for the surge, sway, and yaw are constructed for the crabbing motion. Based on these equations of motion, a feedback linearization control method is applied to auto-berthing control for a twin-screw ship with side thrusters. The controller can deal with the nonlinearity of a system, which is present in the berthing maneuver of a twin screw ship. A simulation of the auto-berthing of a ship is performed to validate the performance of the designed controller.

• International Journal of Automotive Technology
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• 제7권4호
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• pp.449-457
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• 2006

The driver model during drift cornering was examined, and a technique to improve vehicle movement performance during drift cornering was investigated. Based on the results obtained, the driver was found to steer using feedback of the body slip angle and the body slip angle velocity during drift cornering. Moreover, improvement of the cornering force characteristic, at which exceeded the maximum cornering force calm as much as possible is important.