• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.38-42
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• 2002

Conditions are discussed for operating a dissymmetric human master-small (or micro) slave system in best (large position gain-small velocity gain) conditions allowing higher operator dexterity when real effects (joint compliance, link flexion delay and transmission distortion) are taken into account. It is shown that position PD feedback law advantage for ideal case no longer holds, and that more complicated feedback law depending on real effects has to be implemented with adapted transmission line. Drawback is slowdown of master slave interaction, suggesting to use more advanced predictive methods for the master and more intelligent control law for the slave.

• 전기학회논문지
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• 제65권8호
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• pp.1400-1406
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• 2016

This paper presents a new adaptive converter control approach for electric motor systems whose voltage source is excited from photovoltaic (PV) power generators. First, an electric model is represented with dynamic states and output velocity of such DC motor systems. We propose a hybrid converter control law in which a state feedback control is applied as an auxiliary control framework. Moreover, control parameter estimation is derived to realize adaptive converter systems for effective control performance against stochastic PV power excitation in practice. We carry out stability analysis for such converter system by using a well-known eigenvalue theory. Lastly, numerical simulation is conducted to test reliability of the proposed converter control approach and prove its superiority in the control point of view.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.185-189
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• 1992

This paper prsents an end-point control of a one-link flexible arm with a payload by using closed loop control. Tip position of arm is shifted by the base motion according to DC servomotor, whivh is driven by a feedback signal composed of the tip displacement and the estimated tip velocity. The shifting problem of the arm from initial position to desired position is considered by the variation of the displacement gain Gd and velocity agin Gv. Theoretical results are obtained by applying the method of the Laplace transform to the governing equations and the method of numerical inversion. This system is composed of a flexible arm with payload, DC servomotor, and a ballscrew mechanism. The flexible arm is mounted on a mobile stage driven by a servomotor and ballscrew. In controlling the tip displacement of flexible arm, the fundamental bode vibration is supressed more rapidly with an increase of the velocity feedback gain Gv and the feedback displacemenmt gain Gd. Theretical responses are approximately in good agreement with those obtained experimentally.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.291-298
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• 2000

This paper describes a theoretical and experimental investigation into an active vibration isolation system in which four electromagnetic actuators are installed in parallel with each of four passive mounts placed between a piece of equipment and a vibrating base structure. Decentralised velocity feedback control is employed, where each actuator is operated independently by feeding back the absolute equipment velocity at the same location. Although one end of each actuator acts at the sensor positions on the equipment, the control system is not collocated because of the reactive forces acting on the flexible base structure, whose dynamics are strongly coupled with the mounted equipment. Isolation of low frequency vibration is considered where the equipment can be modelled as a rigid body and the mounts as lumped parameter springs and dampers. Control mechanisms are discussed, and some experimental and simulation results are reported.

• International Journal of Aeronautical and Space Sciences
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• 제12권2호
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• pp.179-189
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• 2011

In this paper, robust adaptive control design problem is addressed for a class of parametrically uncertain aeroelastic systems. A full-state robust adaptive controller was designed to suppress aeroelastic vibrations of a nonlinear wing section. The design used leading and trailing edge control actuations. The full state feedback (FSFB) control yielded a global uniformly ultimately bounded result for two-axis vibration suppression. The pitching and plunging displacements were measurable; however, the pitching and plunging rates were not measurable. Thus, a high gain observer was used to modify the FSFB control design to become an output feedback (OFB) design while the stability analysis for the OFB control law was presented. Simulation results demonstrate the efficacy of the multi-input multi-output control toward suppressing aeroelastic vibrations and limit cycle oscillations occurring in pre- and post-flutter velocity regimes.

• 한국기계가공학회지
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• 제2권4호
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• pp.46-52
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• 2003

For position control of electro-hydraulic servo system, single rod cylinders and double rod cylinders are used. Single rod cylinders have simple structure for manufacturing but different volume ratio of two sides induce to non-linearity in process of then mathematical modeling. So only with conventional PID control method it is difficult to control single rod cylinders precisely. For mole precise position control of single rod cylinders, a controller which is inserted a velocity feedback PID controller and MRAC controller are proposed. With experiment control performances of three control methods are compared. In case of experiment, for external varying load to the system, a hydraulic cylinder and a pressure control valve are used. In conclusion a MRAC is considered a suitable control method for external varying load.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 춘계학술대회논문집
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• pp.442-448
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• 2008

This paper presents an approach to define an optimal piezoactuator length to actively control structural vibration. The optimal ratio of the piezoactuator length against beam length when a pair of piezoceramic actuator and accelerometer is used to suppress unwanted vibration with direct velocity feedback (DVFB) control strategy is not clearly defined so far. It is well known that direct velocity feedback (DVFB) control can be very useful when a pair of sensor and actuator is collocated on structures with a high gain and excellent stability. It is considered that three different collocated pairs of piezoelectric actuators (20, 50 and 100 mm) and accelerometers installed on three identical clamped-clamped beams (300 * 20 * 1 mm). The response of each sensor-actuator pair requires strictly positive real (SPR) property to apply a high feedback gain. However the length of the piezoactuator affects SPR property of the sensor-actuator response. Intensive simulation and experiment shows the effect of the actuator length variation is strongly related with the frequency range of SPR property. A shorter actuator gave a wider SPR frequency range as a longer one had a narrower range. The shorter actuator showed limited control performance in spite of a higher gain was applied because the actuation force was relatively small. Thus an optimal length ratio (actuator length/beam length) was suggested to obtain relevant performance with good stability with DVFB strategy. The result of this investigation could give important information in the design of active control system to suppress unwanted vibration of smart structures with piezoelectric actuators and accelerometers.

• 한국자동차공학회논문집
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• 제21권5호
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• pp.40-46
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• 2013

Automatic swing door for an automotive application is considered. The equation of motion for a driver side swing door is introduced and gravity cancellation control scheme is adapted. The control scheme supposed to cancel the moment due to the tilt of the car. A speed control is suggested for door operation automation but the output of the speed control is not suppose to be precise as for the manufacturing system control. In the frame of the velocity control of the door, feedback linearization was applied for collision detection. The collision detection performance is satisfactory. The estimate of the magnitude of disturbance due to the collision is close to the actual magnitude of disturbance. Simulation study has been performed to gain insight into the system behavior. Also real test on the prototype hardware has been performed for verification purpose.

• Physical Therapy Rehabilitation Science
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• 제6권4호
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• pp.189-195
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• 2017

Objective: The purpose of this study was to examine the effects of real-time visual feedback weight shift training during golf swinging on golf performance. Design: Repeated-measures crossover design. Methods: Twenty-sixth amateur golfers were enrolled and randomly divided into two groups: The golf swing training with real-time feedback on weight shift (experimental group) swing training on the Wii balance board (WBB) by viewing the center of pressure (COP) trajectory on the WBB. All participants were assigned to the experimental group and the control group. The general golf swing training group (control group) performed on the ground. The golf performance was measured using a high-speed 3-dimensional camera sensor which analyses the shot distance, ball velocity, vertical launch angle, horizontal launch angle, back spin velocity and side spin velocity. The COP trajectory was assessed during 10 practice sessions and the mean was used. The golf performance measurement was repeated three times and its mean value was used. The assessment and training were performed at 24-hour intervals. Results: After training sessions, the change in shot distance, ball velocity, and horizontal launch angle pre- and post-training were significantly different when using the driver and iron clubs in the experimental group (p<0.05). The interaction time${\times}$group and time${\times}$club were not significant for all variables. Conclusions: In this study, real-time feedback training using real-time feedback on weight shifting improves golf shot distance and accuracy, which will be effective in increasing golf performance. In addition, it can be used as an index for golf player ability.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.