• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.144-147
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• 2001

The planar tracked vehicle model used in this investigation consists of two kinematically decoupled subsystem, i.e., the chassis subsystem and the track subsystem. The chassis subsystem include the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints, In this paper, the recursive kinematic and dynamic formulation of the tracked vehicle is used to find the vertical forces and the distances of the certain track moved in the driving direction along the track. These distances and vertical forces obtained are used to calculate the sinkage of a terrain. The FEM is adopted to analyze the interaction between the tracked vehicle and terrain. The terrain is represented by a system of elements with specified constitutive relationships and considered as a piecewise linear elastic, plastic and isotropic material. When the tracked vehicle is moving with different speeds on the terrain, the elastic and plastic deformations and the maximum sinkage for the four different types of a isotropic soil are simulated.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.3
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• pp.132-139
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• 1992

본 연구에서 디지탈 적응제어 시스템 설계를 위한 마이크로 컴퓨터 지원설계기법과 프로그램(DACS)을 개발 하였다. 이 프로그램은 Intel 80286 ghrdms 80386 CPU에 사용되는 GWBASIC 언어로 작성 되었고, 각 요소의 동특성을 모듈화 시키고, 차분방정식으로 표시하는 시뮬레이션 기법을 제시 하였다. 이 프로그램을 사용하면 디지탈제어에서 중요한 샘플링 시간과 A/D, D/A 변환기의 최적 Bit수를 결정할 수 있다. 적응제어 방법은 온라인 RLS(Recursive Least Squares) 파라메터 추정방법을 사용하였고, 실험결과와 잘 일치 되었다. 예제로서 공기예열시스템에 적응제어방법을 적용시켜 설계하다.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.10a
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• pp.150-155
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using digital signal processors for robot manipulators. TMS3200C50 is used in implementing real-time adaptive control algorithms provide advanced performance for robot manipulator. In this paper an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm and controller parameters are detemined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.170-175
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• 1992

A leak detection method for diagnosis of the leak position in a pipeline was developed using an estimation theory with the assumption that the measured flow rates and pressures are stochastic processes. A notch filter was designed using power spectral density analysis of measurements to reduce the effects of disturbances. The noise model dimension was determined by hypothesis testing and then recursive extended least square method was applied to estimate the leak position in real time. The proposed method was applied to an experimental system for evaluation of its performance.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.51-55
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• 1995

An adaptive unified predictive control (UPC) algorithm is applied to a batch polymerization reactor for poly(methyl methancrylate) (PMMA) and the effects of controller parameters are investigated. Computational studies are performed for a batch polymerization system model developed in this study. A transfer function in parametric form is estimated by recursive least squares (RLS) method, and the UPC algorithm is implemented to control the reactor temperature on the basis of this transfer function. The adaptive unified predictive controller shows a better performance than the PID controller for tracking set point changes, especially in the latter part of reaction course when gel effect becomes significant. Various performance can be acquired by selecting adequate values for parameters of the adaptive unified predictive controller; in other words, the optimal set of parameters exists for a given set of reaction conditions and control objective.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.3
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• pp.145-155
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• 1990

In this paper, an adaptive Infinite Impulse Response (IIR) filter algorithm using output error method, which prevents poles of a system transfer function from being out of unit circle, is proposed, and it is proved that the proposed algorithm always satisfies hyperstability. The proposed algorithm is applied to an Adaptive Noise Canceller (ANC), and compared with a Least Square (LS) method adaptive IIR filter algorithm and an adaptive Finite Inpulse Response (FIR) filter algorithm. As a result, the validity of the proposed algorithm is proved.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.779-782
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• 1990

Recently batch type cold rolling processes have been replaced by continuous annealing type processes for cold rolled sheets of mild steel and high strength steel in order to obtain higher productivity, labor saving. In the continuous annealing line, it is very important to maintain the target steel strip temperature at the exit side of each furnace. The automation system of continuous annealing line is based on a hierachical composition. This paper shows how to preset the set value of furnace temperature control for the heating section in a continuous annealing line. Saying in other words, this paper presents the development of an adaptive control approach to control the exit strip temperature in the continuous annealing line. There are three parts in this approach; one is a process modelling and another is recursive parameter estimation and the other is a design of temperature controller.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.234-236
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• 2006

Because of its long measurement range and ultra-precise resolution. the heterodyne laser interferometer systems are very common in various industry area such as semiconductor manufacturing. However the periodical nonlinearity property caused from frequency mixing is an obstacle to improve the high measurement accuracy in nanometer scale. In this paper to minimize the effect of nonlinearity, we propose an adaptive nonlinearity compensation algorithm. We first compute compensation parameters using least square (LS) with the capacitance displacement sensor as a reference input. We then update the parameters with recursive LS (RLS) while the values are optimized to modify the elliptical phase into circular one. Through comparison with some experimental results of laser system, we demonstrate the effectiveness of our proposed algorithm.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.86-88
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• 2007

In the semiconductor manufacturing industry, the heterodyne laser interferometer plays as an ultra-precise measurement system. However, the heterodyne laser interferometer has some unwanted nonlinearity error which is caused from frequency-mixing. This is an obstacle to improve the measurement accuracy in nanometer scale. In this paper we propose a compensation algorithm based on RLS(recursive least square) method and artificial intelligence method, which reduce the nonlinearity error in the heterodyne laser interferometer. With the capacitance displacement sensor we get a reference signal which can be transformed into the intensity domain. Using the back-propagation Neural Network method, we train the network to track the reference signal. Through some experiments, we demonstrate the effectiveness of the proposed algorithm in measurement accuracy.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.395-402
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• 2005

This paper deals with modeling and computer simulation of a full multibody vehicle model for a driving simulator. The multibody vehicle model is based on the recursive formulation and a corresponding simulation code is generated automatically from AUTOCODE, which is a symbolic computation package developed by the authors using MAPLE. The paper describes a procedure for automatically generating a highly efficient simulation code for the full vehicle model, while incorporating realistically modeled components. The following issues have been accounted for in the procedure, including software design for representing a mechanical system in symbolic form as a set of computer data objects, a multibody formulation for systems with various types of connections between bodies, automatic manipulation of symbolic expressions in the multibody formulation, interface design for allowing users to describe unconventional force-and torque-producing components, and a method for accommodating external computer subroutines that may have already been developed. The effectiveness and efficiency of the proposed method have been demonstrated by the simulation code developed and implemented for driving simulation.