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Span內 集中質量을 갖는 彈性 Arm 先端의 位置制御를 위한 逆動力學的 解析
房斗烈,李聖哲 全北大學校 1995 論文集 Vol.39 No.-
A theoretical calculation is presented for the desired motor voltage driving a flexible arm with a concentrated mass within the span by inverse dynamics. We considered the problem that the tip position of the arm is controlled by the dc servomotor located at the shoulder, which is driven by the voltage obtained by inverse dynamics. As an example, we obtain the motor voltage to shift the end-point of arm from initial position to the desired position by the amount of w_d. Simulation results are obtained by applying the method of the Laplace transform of numerical inversion. Theoretical results which are obtained by inverse dynamics show that there exist fluctuation when acceleration of desired tip trajectory is changed suddenly, and motor voltage shape resembls acceleration curve.
1-링크 탄성 암 선단의 위치제어를 위한 역동력학적 해법
방두열,이영춘,이성철 전북대학교 공업기술연구소 2000 工學硏究 Vol.31 No.-
The input function evaluation was studied in the end-point position control of one-link flexible arm by inverse dynamics. Especially, we chose three input functions as tip path and made an evaluation about tip position control. The three input function was so called "Bang-Bang function", "Gauss function". and "Cosine function". Experimental results were investigated to compare the performance of three input functions. The "Cosine function" proposed by the authors was the most effective path in comparison with others with respect to lowest magnitude of voltage and smallest steady-state error. Keywords : Inverse Dynamics, Flexible Arm, Bang-Bang Function, Gauss Function, DC servo motor
PWM 전류제어와 펠티어 소자를 이용한 알루미늄 판의 온도 제어
방두열(Du-Yeol Pang),권대규(Tae-Kyu Kwon),이성철(Seong-Cheol Lee) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
This paper presents temperature control of aluminum plate using Peltier module. As one of the thermoelectric effect, Peltier effect is heat pumping phenomena by electric energy. So if current is charged to Peltier module, it absorbs heat from low temperature side and emits heat to high temperature side. In this experiment, Peltier module is used to control the temperature of small aluminum plate with heating and cooling ability of Peltier module with current control and fan ON/OFF control. And current control of Peltier module was accomplished by PWM method. As a results of experiments, it takes about 125sec to control temperature of aluminium plate between 30℃ and 70℃ and about 70sec between 40℃ and 60℃, in ambient temperature 29℃ while operating cooling fan only while cooling duration. Future aim is to realize more rapid temperature control and develop SMHA(special metal hydride actuator) by using Peltier module as a heating and cooling source.
MATLAB/Simulink를 이용한 컬럼형 전동조향장치(EPS)의 토크제어 시뮬레이션
방두열(Du-Yeol Pang),이성철(Seong-Cheol Lee),장봉춘(Bong-Chun Jang) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
As a development of technology, electric power steering system which uses an electric motor came to use in recent and it can solve the problems with hydraulic power steering system. In this paper, vehicle model and electric power steering system are combined to fulfill full vehicle model. By simulation effect of motor torque assist through electric power steering revealed effective, and full vehicle model are proved reasonable through comparison with real car experimental datum.
펠티어 소자의 PWM 전류제어를 이용한 알루미늄 판의 온도제어
방두열(Du-Yeol Pang),권대규(Tae-Kyu Kwon),이성철(Seong-Cheol Lee) Korean Society for Precision Engineering 2006 한국정밀공학회지 Vol.23 No.10
This paper presents the temperature control in aluminum plate with Peltier module. From the experimental work, Peltier module is used to control the temperature of small aluminum plate for both heating and cooling with the control of current and fan ON/OFF. And current control of Peltier module was accomplished by PWM method. As a result of experiments, it is proper that operate cooling fan only while cooling duration and there exist a proper cooling current to drop temperature rapidly. It takes about 125sec to control temperature of aluminium plate between 30℃ and 70℃ and about 70sec between 40℃ and 60℃, in ambient temperature 28℃ -29℃ while cooling fan is operated only cooling duration. With the cooling current, temperature control of aluminum plate was accomplished more rapidly in comparison without cooling current. Future aim is to realize more rapid temperature control and develop SMHA(special metal hydride actuator) by using Peltier module as a heating and cooling source.
DSP를 이용한 비선형 타이밍벨트 구동시스템의 QLQG/LTR 제어
한성익,방두열 한국공작기계학회 2001 한국생산제조학회지 Vol.10 No.4
In this paper, the QLQG/LTR control method is applied for the position control of the nonlinear timing belt diving sys-tem. Parameters of the plant are identified by genetic algorithm and nonlinear elements, such as Coulomb friction and dead-zone, are quasi-linearized by RIDF method. Comparing with the LQG/LTR control, the QLQG/LTR has similar structures of the LQG/LTR, but this method can consider nonlinear effects in designing the controller. Thus, the QLQG/LTR control system is robust to hard nonlinearities such as Coulomb friction. dead-zone, etc. For a given hard non-linear system, through experiments, it is shown that the tracking performance of the QLQV/LTR control system can be very improved than the LQG/LTR control system.