• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.754-758
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• 1996

In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed synchronizing control system is constituted with speed and synchronizing controller. The structure of synchronizing control system is varied by sign of synchronizing error. When a disturbance input becomes added to one axis, this axis becomes slave axis. The other axis is master axis. Therefore, master axis is not influenced by the disturbance. The speed controller of the first axis is designed by $H_{\infty}$ control theory. The speed controller of the second axis is designed by inverse dynamics of speed control system of the first axis. The speed control system designed with $H_{\infty}$ controller guarantees low sensitivity for the disturbance as well as robustness against model uncertainties. Especially, the synchronizing controller is designed to keep position error to minimize by controlling speed of slave axis. The effectiveness of the proposed method is successfully confirmed through several experiments.

• 한국정밀공학회지
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• 제14권3호
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• pp.98-106
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• 1997

In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed position synchronizing control system is constituted with speed and synchronizing controller. The speed controller is aimed at the following to speed reference. Furthermore, it is designed to guarantee low sensitivity under some disturbance as well as robustness against model uncertainties using $H_{\infty}$technique. The synchronizing controller is designed to keep minimizing the position error using PID control law which is considered to reduce the dimension of transfer function in the control system. Especially, the proposed method can be easily conducted by controlling only slave axis speed, because it, has variable structure which is decided to master and slave axis by the sign of synchronizing error. Therfore, the master axis which is smaller influenced than another axes by disturbance can be controlled without reducing or increasing its speed for precise position synchronization. The effectiveness of the proposed method is sucessfully confirmed through many experiments.s.

• 한국정밀공학회지
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• 제31권1호
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• pp.51-57
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• 2014

This paper presents a synchronizing adaptive feedforward control for clamping servomechanism of injection molding machines. Based on MBS, virtual design model has been developed for a direct forcing clamping mechanism. A synchronizing controller is designed and combined with adaptive feedforward control to accommodate mismatches between the real plant and the linear plant model used. From tracking control simulations, it is shown that significant reduction in position tracking error is achieved through the use of proposed control scheme.

• 한국정밀공학회지
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• 제32권8호
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• pp.719-726
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• 2015

This paper presents a velocity-synchronizing control for the multiple axes of an injection unit; based on MBS, a virtual design model has been developed for the multiple-axes servomechanism. Prior to the design of the controller, a linear plant model was derived via open-loop response simulations. To synchronize the motions of the multiple axes, a cross-type synchronizing controller was designed and combined with the PID control to accommodate any parameter mismatches among the multiple axes. From the tracking control simulations, a significant reduction of both velocity-tracking and position-tracking errors was achieved through the use of the proposed control scheme.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.330-333
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• 2003

In this thesis. the application of the synchronizing control of the intelligent indoor lift system is showed. The separate axes of the indoor lift system are driven independently. PID controller, synchronous flexible logic compensating method and tilt sensor are applied to enhance the performance of the intelligent indoor lift system. the tilt sensor senses the horizontal error of the whole system. PID controller and synchronous flexible logic are used to compensate the synchronous errors of both the separate axes and whole system to be zero. Namely, using not the hardware coupling but the software algorithm. the indoor life system is operated without the error. Before applying the real system, the simulation using matlab testifies the possibility of the lift system. And the realization of the system is demonstrated with two DC servo motors. In the experiment test, flexible logic to compensate the synchronous error is chosen by the comparative method. the indoor lift system has to be considered the loading factor as the disturbance. Because the intelligent indoor lift system is developed to support the patients who don't change for themselves to move. finally, the system which considers the weight of the patient as the disturbance can carry the patients safely without synchronous and position error.

• 전력전자학회논문지
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• 제9권1호
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• pp.30-35
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• 2004

스위치드 릴럭턴스 전동기(SRM)의 구동에서 회전자 위치는 필수적인 정보로서 회전자의 위치에 따라 고정자의 상여자 신호를 동기화 시키는 것이 매우 중요하다. 이를 위해 고해상도의 엔코더나 레졸버가 이용되는데 이는 전동기의 생산가격 상승을 가져오게 된다. 반면 센서리스 기법을 통한 상여자신호의 동기화는 신뢰성 및 고속영역에서 스위칭각이 마이크로프로세서의 샘플링 주기에 의해 영향을 받게 된다. 본 논문에서는 실용적인 방식의 저가형 아날로그 엔코더를 제안한다. 또한 간단한 디지털회로를 사용한 제어신호를 생성하기 위한 제어알고리즘을 제시한다. 실험을 통하여 제안된 아날로그 엔코더의 성능을 검증하고 이를 이용한 스위칭각 제어방법에 대해 검증하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.271-274
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• 2001

The present paper deals with the development of digital contouring controller for multiaxial servosystem. Instead of coordinating the commands to the individual feed drives and implementing closed position loop control for each axis, this work is achieved by the evaluation of a optimal cross-couple compensator aimed specifically at improving contouring accuracy in multi-axial feed drives. The optimal control formulation explicitly includes the contour error in the performance index to be minimized. The contouring control is simulated for straight line. The results show that the proposed controller reduces contouring errors considerably, as compared to the conventional uncoupled control for biaxial systems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2415-2417
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• 2002

In this paper, we discuss about the real-time distributed system for the control of to motors using uCOS-II kernel. Real-time kernel needs to process the tasks for two motors in desired time to synchronize motion. We used both semaphore and message mail box for synchronization. In the previous study, we used step motors for the actuator of two axes robot, but could not draw a clear line because of motor resolution and synchronizing step pulse. To resolve the problem we rebuilt the transfer robot with DC motors and the dedicated position servor which had built in out lab. Moreover we developed the PC based graphic user interface for generating planar drawing image control. Experimental results also presented to show the proposed control system is useful.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.283-286
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• 2002

This paper presents the straightness compensation system which is a device for improving the machining accuracy of ultra-precision machines by synchronizing the position of diamond tool tip with machine error motion. Sine it is actuated by piezoelectric actuator with highly nonlinear hysteresis characteristics, the feedback control schemes such as Proportional Integral(PI), are required and realized by measuring the displacements of diamond tool tip. for the better tracking performance, the controller was implemented using TMS320C32 32bit floating-point DSP which is fast so that the real-time control is possible. In addition, stand alone type DSP board was chosen fur the easy assembly into the ultra-precision machines. The experimental results show good command tracking performance and the motion error of the machine is satisfactorily compensated during the machining process.

• 한국멀티미디어학회논문지
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• 제8권10호
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• pp.1293-1305
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• 2005

본 논문에서는 HMD(head mounted display) 하단에 눈동자의 움직임 영상을 취득할 수 있는 USB 카메라를 부착한 후, 3차원 1인칭 슈팅(first Person shooting) 게임에서 게임 캐릭터의 시선방향을 눈동자 움직임에 의해 조작하는 방법을 제안한다. 본 논문에서 제안하는 방법은 다음과 같이 세 부분으로 구성된다. 첫 번째는 입력 영상으로부터 눈동자의 중심 위치를 실시간 영상 처리 방법으로 추출하는 부분, 두 번째는 HMD 모니터상의 임의 지점을 쳐다볼 때 추출된 눈동자의 위치 정보와 모니터상의 응시 위치 사이의 기하학적인 연관관계를 결정하는 캘리브레이션 부분, 그리고 마지막은 캘리브레이션 정보를 기반으로 모니터 상의 최종적인 응시 위치를 결정하고, 이 정보에 의해 게임상의 3차원 뷰(view) 방향을 조정하는 부분으로 구성된다. 실험 결과, 본 논문의 방법에 의해 손이 불편한 사용자에게 게임을 즐길 수 있는 기회를 제공하고, 게임 캐릭터와 게임 사용자의 시선 방향을 일치시킴으로서 게임의 흥미와 몰입감을 증가시키는 결과를 얻을 수 있었다.