• 한국산학기술학회논문지
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• 제9권4호
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• pp.905-910
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• 2008

본 논문은 운동 물체에 대한 시뮬레이션 할 수 있는 원판형 모션테이블 제작과 제어 실험 시스템을 제시하였다. 원판형 모션테이블은 3개의 길이가 변하는 축과 중심점을 유지하는 축으로 이루어져 있으며, 원판의 자세 변화에 따른 중심점은 중심축 상에 항상 놓이도록 설계 되어 있다. 제어 시스템은 원판형 모션테이블의 서보모터 3개를 제어함으로써 원판의 자세를 바꿀 수 있도록 설계 되었다. 또한 본 원판형 모션테이블을 이용한 비행제어 시물레이션을 예로 제시하였다. 이러한 소형 모션테이블의 보급과 이를 이용한 실험 교육은 우리나라의 항공우주, 로봇분야의 인력양성에 기여할 것이다.

• 제어로봇시스템학회논문지
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• 제6권12호
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• pp.1053-1060
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• 2000

In this paper, a discrete-time variable structure control method using recursively defined switching function and a decoupled variable structure disturbance compensator is used to achieve high performance circular motion control of a CNC machining center. The discrete-time variable structure control with the decoupled disturbance compensator method developed in this paper uses a recursive switching function defined as the sum of the current tracking error vector and the previous value of the switching function multiplied by a positive constant less than one. This recursive switching function provides much improved performance compared to the method that uses a switching function defined only as a linear combination of the current tracking error. Enhancements in tracking performance are demonstrated in the circular motion control using a CNC milling machine.

• 대한기계학회논문집
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• 제19권1호
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• pp.38-44
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• 1995

We made a counter to measure the output of motor encoders for the motion error analysis of a CNC machining center, and have measured the dynamic characteristics and the position errors experimentally. Especially, we measured the radius errors for different feedrates and different radii when the CNC machining center performed a circular interpolation. We have also used an iterative learning method to reduce the radius errors and stick motion errors generated by the CNC machining center performing a circular interpolation. The results show that the proposed learning scheme can reduce the radius error and stick motion error significantly. The reduction of errors becomes more pronounced for higher feedrate and smaller radius.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1997년도 전력전자학술대회 논문집
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• pp.336-340
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• 1997

This paper is a study about motor technic of motion and feedforward control in order to shape cutting control on the machine tool. The shape error caused by delay of the servo system in the direction of radius at the time of circular cutting is reduced by feedforward control, shape error generated by the position command delay is minimized by using the acceleration/deceleration time constant after the interpolation. The study was verified to optimization of motion control on experiments of a vertical machining center of the machine tool.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.228-231
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• 1987

Microprocessor-based software DDA interpolator is developed and applied to two axis contouring control of X-Y table. Developed assembly program is composed of feedrate, linear and circular DDA interpolation routines. Reference-pulse type of open-loop stepping motor control system in which the micro-computer produces a sequence of reference pulses for each axis of motion is adopted. To test performance of the developed program, X-Y table drive system based on stepping motor and shaft encoder is designed. Contouring error of the system in linear and circular path is within .+-.0.2 mm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1904-1909
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• 1991

Software linear and exponential acceleration/deceleration algorithms for control of machine axes of motion in industrial robots and CNC machine tools are proposed. Typical hardware systems used to accelerate and decelerate axes of motion are mathematically analyzed. Discrete-time state equations are derived from the mathematical analyses for the development of software acceleration/deceleration algorithms. Synchronous control method of multiple axes of motion in industrial robots and CNC machine tools is shown to be easily obtained on the basis of the proposed acceleration/deceleration algorithms. The path error analyses are carried out for the case where the software linear and exponential acceleration/deceleration algorithms are applied to a circular interpolator. A motion control system based on a floating point digital signal processor (DSP) TMS 320C30 is developed in order to implement the proposed algorithms. Experimental results demonstrate that the developed algorithms and the motion control system are available for control of multiple axes and nonlinear motion composed of a combination of lines and circles which industrial robots and CNC machine tools require.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2002년도 학술대회지
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• pp.459-462
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• 2002

Many active and passive flow control methods have been studied since decades, but there are only few works about flow control methods using ion wind. This paper presents an experimental study on the wake control behind a circular cylinder using ion wind, a bulk motion of neutral molecules driven by locally ionized air of corona discharge. Experiments are done f3r different electrohydrodynamic numbers - the ratio of an electrical body farce to a fluid Inertial force - from 0 to 2 and for the Reynolds number ranging from $4{\times}10^3\;to\;8{\times}10^3$. Pressure distributions over a cylinder surface are measured and flow visualizations are carried out by smoke wire method. Flow visualizations confirm that ion wind affects significantly the wake structure behind a circular cylinder and pressure drag could be dramatically reduced by the superimposing ion wind.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.830-835
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• 1993

The errors in machining process by CNC machining center are due to many elements, such as the delay of the servo drivers, friction and the gain mismatch between x-axis and y-axis motors and so on. We made a counter circuit to measure the output of motor encoders for the motion error analysis of a CNC machining center, and have measured the errors experimentally when the CNC performs a circular interpolation. We have also used an iterative learning method to reduce the radius errors and stick motion errors generated by the CNC machining center performing a circular interpolation. The proposed learning scheme worked well and the circle obtained has smaller error.

• 한국산학기술학회논문지
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• 제10권12호
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• pp.3574-3580
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• 2009

본 논문에서는 IEC 61131-3 국제표준언어에 근거한 PLC 프로그래밍 개발환경을 지원해 주는 임베디드 모션 제어기를 개발하였다. 이 모션제어기에는 모션시스템 개발자가 PC 개발환경은 물론, PLC 개발환경에서도 손쉽게 모션제어 프로그래밍이 가능하도록 IEC 61131-3 개발 도구인 CoDeSys가 탑재되었으며, 직선 및 원호보간 제어와 같은 다양한 모션제어 함수들이 PLCopen 표준에 부합되는 모션 펑션블록으로 구현되었다. 또한 실시간 운영체제하에서 이더넷 기반 원격제어 및 모션 프로그래머를 위한 모션 시뮬레이터가 구현되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1642-1647
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• 2004

In this article, we present the development of the automated system for adjusting the 6 D.O.F circular fixator. The system includes scheduling software to adjust the Hexapod Circular Fixator (HCF) and an automated strut system with the ability of the multiple synchronized motion. HCF was designed to control a 6 degree-of-freedom Ilizarove fixator and it's mechanism is known as the Stewart Platform. HCF scheduler evaluates each value of altered length of the HCF struts to correct the complex skeletal deformity by using the X-ray data of the patient. The data of HCF scheduler feed into the automated strut system which be able to provide the scheduled adjustment and the automated strut is synchronized by input data.