• Journal of the Korean Society of Industry Convergence
• /
• v.21 no.1
• /
• pp.37-44
• /
• 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.

• Journal of the Korean Society of Visualization
• /
• v.12 no.1
• /
• pp.30-34
• /
• 2014

Bluff bodies under the external periodic force vibrate at their own natural or forced frequency. Rectangular bodies or similar structures such as high-rise towers and apartments, and recently a well-cited application - offshore floating bodies, usually needs to reduce these vibrations for stability and the mode control. Therefore, this study is aiming to reduce or control the vibration of a structure by a passive control method, i.e., TLCD (Tuned Liquid Column Damper). Controlling a moving body with a TLCD based on a variety of the orifice shape has been preliminary studied. In order to get a proper control, an optimized study is made on the design of the orifice shape, which has internal plates with the holes. The results show the force acting on the body due to the periodic movement highly depends on the number of holes on the plate and the height of the water level. Therefore, the optimum shape of the orifice and the height of the water level should be confirmed by a series of experiments.

• Journal of KSNVE
• /
• v.11 no.3
• /
• pp.422-427
• /
• 2001

In this paper is presented passive-active noise control in a duct using a ring-type smart foam. The ring-type smart foam is comprised of a PVDF film embedded in elastic noise control foam of lining shape. The embeddedPVDF element acts as an actuator to reduce noise at lower frequencies and the foam absorbs noise at higher frequencies. By implementing an adaptive filtered-x LMS algorithm, experiments are performed to reduce both tonal and broadband noise in a duct with one end closed and the other end open.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.5 no.4
• /
• pp.81-87
• /
• 2002

In this paper, the transonic aeroelastic behavior of the generic fighter model is investigated in the time domain. The simulation of flutter flight test using forced harmonic motion of control surfaces including inertial coupling effects is conducted at the various conditions. The nonlinear aerodynamic effects are considered using a transonic small disturbance equation. A modal model obtained by a free vibration analysis is used for the structural model. The relations between the computed flutter boundary and the simulation results of the responses using the harmonic motions of control surfaces at various conditions are investigated.

• Journal of KSNVE
• /
• v.11 no.2
• /
• pp.241-248
• /
• 2001

The present paper describes experimental and computational work to augment the magnitude of the impulsive wave. An experiment was performed using a simple shock tube with an open end and numerical calculations were carried out to solve the unsteady, axisymmetric, inviscid, compressible governing equations. The control strategy applied was to alter the exit geometry of a straight tube to a sudden enlargement tube and a flare tube. The effects of the configurations of the tube exit on the magnitude of the impulsive wave were investigated over the range of the weak shock Mach number from 1.01 to 1.10. The results obtained were compared to those of the straight tube tests. The numerical result predicted the magnitude of the experimented impulsive waves with a good accuracy. The present passive control technique enabled the magnitude of the impulsive wave to augment by about 23 percent, compared to that of the straight tube of no control.

• Smart Structures and Systems
• /
• v.6 no.1
• /
• pp.57-72
• /
• 2010

This paper presents the most significant results obtained within a broad-ranging experimental program aiming to evaluate both the effectiveness and the robustness of a Base Isolation (BIS) and a Tuned Mass Damper (TMD) combined control strategy (BI & TMD). Following a brief description of the experimental model set-up and the adopted kinematic scaling technique, this paper describes the identification procedures carried out to characterize the system''s model. The dynamic response of a small-scale model to recorded earthquake excitations, which has been scaled by using the Buckingham pi-theorem, are later presented and discussed. Finally, the effectiveness and robustness of the combined control strategy is evaluated by comparing the model's dynamic response. In particular, reduction in relative displacements and absolute accelerations due to the application of different mass damping systems is investigated.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.27 no.8
• /
• pp.42-50
• /
• 2013

The reactionary responses to control human standing dynamics were estimated under the assumption that postural complexity mainly occurs in the mid-sagittal plane. During the experiment, the subject was exposed to continuous horizontal perturbation. The ankle and hip joint rotations of the subject mainly contributed to maintaining standing postural control. The designed mobile platform generated anterior/posterior (AP) motion. Non-predictive random translation was used as input for the system. The mean acceleration generated by the platform was measured as $0.44m/s^2$. The measured data were analyzed in the frequency domain by the coherence function and the frequency response function to estimate its dynamic responses. The significant correlation found between the input and output of the postural control system. The frequency response function revealed prominent resonant peaks within its frequency spectrum and magnitude. Subjects behaved as a non-rigid two link inverted pendulum. The analyzed data are consistent with the outcome hypothesized for this study.

• 제어로봇시스템학회:학술대회논문집
• /
• 1994.10a
• /
• pp.461-466
• /
• 1994

This paper is concerned with the positioning control of a flexible arm system using H$_{\infty}$ control theory with optimum sensor location. Firstly, by virtue of the orthogonality of the flexible modes of the flexible arm a reduced order model of the tributed parameter system(DPS) representing the arm has formulated. The dynamical coupling between the flexible arm and DC motor has been considered to formulate an motor composite model. In order to achieve precise positioning with vibration attenuation, sensors have been optimally located. Finally, a robust H$_{\infty}$ controller was designed and the performance of the positioning system has been analyzed.d.

• Proceedings of the KIEE Conference
• /
• 1999.07b
• /
• pp.815-817
• /
• 1999

In the two-mass system driving a load through a flexible shaft or transmission system, a shaft torsional vibration is often generated. In this case, it's difficult to control only by conventional PI controller. To solve this problem. the two-mass speed control system with PID controller is designed by using pole assignment method, and an optimum PID parameters are derived by evaluating ITAE(Integral of time multiplied by the absolute error) performance index. Simulation results show the validity of the proposed PID controller and this controller is compared with the conventional PID controller.

• Transactions on Control, Automation and Systems Engineering
• /
• v.1 no.1
• /
• pp.69-74
• /
• 1999

Adaptive algorithms based on gradient adaptation have been extensively investigated and successfully joined with active noise/vibration control applications. The Filtered-X LMS algorithm became one of the basic feedforward algorithms in such applications, but is not fully understood yet. Effects of cancellation path model on the Filtered-X LMS algorithm have investigated and some useful properties related to stability were discovered. Most of the results stated that the error in the cancellation path model is undesirable to the Filtered X LMS. However, we started convergence analysis of Filtered-X LMS based on the assumption that erroneous model does not always degrade its performance. In this paper, we present a way of optimizing the cancellation path modern in order to enhance the convergence speed by introducing intentional phase error. Carefully designed intentional phase error enhances the convergence speed of the Filtered X LMS algorithm for pure tone noise suppression application without any performance loss at steady state.