• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.3
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• pp.93-101
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• 2016

This study presents a simple genetic algorithm to systematically design a PID controller for a hydraulic positioning system operated by a proportional solenoid valve. The inverse dead-zone compensator with nonlinear characteristics is used to cancel out the dead-zone phenomenon in the hydraulic system. The object function considering overshoot, settling time, and control input is adopted to search for optimal PID gains. The designed PID controller is compared with the LQG/LTR controller to check the performance of the hydraulic positioning system in the time and frequency domains. The experimental results show that the hydraulic servo system with the proposed PID controller responds effectively to the various types of reference input.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.625-631
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• 2002

In the previous study, a polishing robot system was developed to automate the polishing process and to cope with the shortage of skilled workers. This polishing robot system has several advantages: reduced time for setting polishing work, decreased labor costs, effective operation, continuous polishing work without an operator, improved machine accuracy, and the ability to polish a free curved surface die. However, still the problem remains that a worker must stay to monitor the polishing process in the poor working conditions for a long time. Nowadays some advanced manufacturing companies need to find a way to check the performance of their production equipments and plants from remote sites. Thus, this study constructed the communication network and developed the monitoring programs (a servo program and a client program) to operate the polishing robot from remote sites. Using these programs, workers are able to monitor and control the polishing robot on the web page, in any place where internet service is possible. To guarantee a stable operation in spite of a variable computer operating environment, the monitoring system is implemented in Java. The experimental results showed that the developed monitoring programs provided a stable communication.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.1 s.94
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• pp.29-38
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• 2005

The track pull-in behavior analysis in an optical disk drive (ODD) using plane phase and the evaluations for effecting parameters of it are discussed. Track pull-in, track capture procedure to do track following control, is a key factor to increase data transfer rate. First, the relative velocity between the beam spot of an optical pick-up and the target track of an optical disk is analyzed during the track pull-in procedure. In this process, it is showed that the track error signal has nonlinear characteristics which are depending on the time. Second, Runge-Kutta method to solve the nonlinear equation is applied to find the track pull-in behavior, and some optimal parameters to get stable and fast pull-in condition are obtained. Then, the phase plane analysis for track pull-in procedure is presented. Finally, some comments for the simulated results are discussed briefly.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1991.04a
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• pp.169-173
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• 1991

최근 자동화기술의 발달에 따라 산업용 로보트팔의 경량화, 고속화를 실행하 게 되는 경우와 우주, 원자력발전소 등과 같은 특수한 환경하에서 매니퓰레 이터(manipulator)를 제어하게 되는 경우가 많아지고 있는데, 이때 팔의 강성 이 충분하지 않으면 위치결정시 목표점에서의 과도진동이 발생하게 되어 위 치결정정도와 작업효율이 저하된다. 그러므로 이러한 경량화된 장비들의 진 동특성을 파악하고 운동시 발생하는 진동을 효율적으로 제어할 수 있는 제 어기(controller)를 설계하여 잔류진동을 감쇠시키므로써 위치결정시간을 줄 일 수 있고, 전체 작업행정시간이 단축되므로써 작업ㅎ류을 향상시키는 효과 를 가져오게 된다. 이때 원하고자 하는 제어를 하기 위해서는 제어대상 (plant)의 계규명(system identification)을 정확히 하여야 하는데 해석적으로 계를 규명하기가 까다로운 경우 제어기를 설계하는 것이 사실상 어렵게 되 므로 이러한 경우 실험적인 방법으로 주파수응답함수(frequency response function)를 구해 계의 모형(model)을 구하는 방법이 널리 사용되고 있다. 이 분야에 있어서 기존의 논문들은 팔의 변위를 측정하여 진동을 제어하나 이 러한 방법들은 간헐적으로 움직이는 산업장비(예:로보트의 팔)의 과도응답을 제어하기에는 부적합하다. 따라서 본 연구에서는 이러한 장비들의 과도응답 을 효과적으로 제어할 수 있도록 가속도계를 사용, 가속도를 측정하여 변위 를 제어하고자 한다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.136-141
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• 2002

This paper presents a design and a control of a biped walking RGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new AGO type with servo motors. The gait of a biped walking RGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking RGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking AGO-robot.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.6
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• pp.133-140
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• 2001

This paper suggests another system for a cutting force measuring tool in a milling process. Generally, tool dynamometer is taken into account for the most appropriate cutting force measuring tool in the analysis of cutting mechanism. However, high price and limited space make it difficult to be in-situ system for controllable milling process. Although an alternative method using AC current of servo-motor has been suggested, it is unsuitable for cutting force control because of small upper frequency limit and noise. The cutting force measuring system is composed of two load cells placed between the moving table bracket and the nut flange part of ballscrew. It has many advantages such as low cost and wide range measurement than tool dynamometer because of the built-in moving table and the low cost load cell. The static and dynamic model of the measuring system using imbeded load cell is introduced. Various Experiments are carried out to validate both models. By comparing the cutting forces from a series of end milling experiments on the tool dynamometer and the system developed in this paper, the accuracy of the cutting force measuring system is verified. Upper frequency limit is measured by the experiment of dynamic characteristics.

• Proceedings of the KIEE Conference
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• 2003.04a
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• pp.170-172
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• 2003

Among low power servo applications, classical DC motors are very popular because they are reasonably cheap and easy to control. The main disadvantage is the mechanical collector which has only a limited life period. Also, brush sparking can destroy the rotor coil, generate EMC problems. So permanent magnet brushless do motors and drives are being used increasingly in a wide range of applications. This has been made possible with the advantages of high performance permanent magnets with high coercively and residual magnetic, which make it possible for the PM to have superior power density, torque to inertia ratio and efficiency, when compared to an induction or conventional dc machine. This paper presents the design of a PM brushless dc motor drive simplistically operates as a classical dc motor. The BLDC motor drive system for this paper composes to the power integrated circuits, the one chip device. And several simple semiconductors add to drive system for a motor drive system simplistically operates as a conventional dc motor. Test results confirmed the feasibility of the proposed motor drive system design.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.2
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• pp.414-430
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• 1996

In this paper, a new kinematic structure of a parallel manipulator with six Cartesian degrees of freedom is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP(parameters P, S denote the prismatic, spherical joints) subchains. Each subchain has a link which is concected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. This arrangement provides a basis to control all six Cartesian degrees of motion of the platform in space. Due to its efficient architecture, the colsed-form solutions of the inverse and forward kinematics can be obtained. As a consequence, this new kinematic structure can be servo controlled using simple inverse kinematics becaese forward kinematics allows for measuring the platform's position and orientation in Cartesian space. Furthermore, the proposed structure provides an effective functional workspace. Series of simulations are performed to verify the results of the kinematics analyses.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.5
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• pp.792-799
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• 2017

The real time unmanned monitoring system of an equipment's internal parts and condition requires the monitoring device to be able to stop at a set location on the rail. However, due to the slip between the driving surface and the roller, an error occurs between the actual position and the command position. In this paper, a method to compensate the position error due to the roller slip is proposed. A proximity sensor located at both ends of the rail detects the starting point and the maximum position pulse, linearly compensating the error between the angular position of the motor and the mechanically fixed starting and maximum position pulse of the rail in forward and reverse direction. Moreover, unlike the existing servo position controller, the motor adopts the position detection method of Hall sensor in BLDC (Brushless DC) and applies an algorithm for low-speed driving so that a stable position control is possible. The proposed rail guided unmanned monitoring system with driving slip compensator was tested to verify the effectiveness.

• Structural Engineering and Mechanics
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• v.30 no.1
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• pp.1-20
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• 2008

The dynamic characteristics of the passive, semi-active, and active tuned-liquidcolumn dampers (or TLCDs) are studied in this paper. The design of the latter two are based on the first one. A water-head difference (or simply named as water head in this paper) of a passive TLCD is pre-set to form the so-called semi-active one in this paper. The pre-set of water head is released at a proper time instant during an earthquake excitation in order to enhance the vibration reduction of a structure. Two propellers are installed along a shaft inside and at the center of a passive TLCD to form an active one. These two propellers are driven by a servo-motor controlled by a computer to provide the control force. The seismic responses of a five-story shear building with a passive, semiactive, and active TLCDs are computed for demonstration and discussion. The responses of this building with a tuned mass damper (or TMD) are also included for comparison. The small-scale shaking-table experiments of a pendulum-like system with a passive or active TLCD to harmonic and seismic excitations are conducted for verification.