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병렬 로봇을 이용한 객실의 능동 제어 기법 적용에 관한 연구
신찬배,심호석 울산과학대학 2004 연구논문집 Vol.31 No.1
본 연구는 각종 운송 수단에서 이동시 발생하는 진동이 객실 등에 전달되는 것을 방지하기 위해 3RRR타입의 병렬 로봇을 이용하여 능동제어를 실시한 것이다. 운송시스템의 정확한 절대적 위치를 모르는 상태에서 속도 및 가속도 값만을 피드백하여 진동을 감쇠하였으며 그 결과 운송시스템에서 발생하는 진동을 최대 8배까지 감쇠할 수 있었다. The desire for the stable and comfortable cabin of the high speed transport system is increasing. In this study, a new control system operated by 3RRR parallel robots such as the active suspension system of motor vehicle is proposed. The goal of this control is keeping zero velocity of the upper robot(cabin) although the lower robot(transport system) is moving randomly. Jacobian matrix was used to design the controller. From the simulation results, the remarkable reduction of motion of the cabin(upper platform) was observed.
신찬배 울산과학대학 1998 연구논문집 Vol.24 No.2
This paper presents a robust position control of a ball & beam system Via LQG/LTR. The LQG/LTR design methodology is a systematic design procedure for designing high performance feedback control systems for both single-input and single-output(SISO) and multi-input and multi-output(MIMO) systems. It allows one to design a set of frequency domain specifications chosen appropriately for desirable command following and disturbance rejection properties with low sensitivity to modeling errors and sensor noise. It is found that the LQG/LTR design method has good performance in comparision with the classical control(PID-control) design method.
자동차 TAIL GATE용 GAS SPRING 적용 설계
신찬배,이상화 울산과학대학 2003 연구논문집 Vol.29 No.2
차종마다의 다양한 Tail Gate의 특성에 의해서 Gas Spring을 적용하기 위해서는 많은 문제점을 가지고 있다. 이 논문에서는 Tail Gate와 Gas Spring 사이의 일반적인 관계를 규명하고 향후 개발될 차종에 적용 가능한 설계방법을 제시한다. With the characteristics of various vehicle's tail gates, there are a lot of problems to adapt gas spring. In this paper, we prove the general relations between the tail gate and the gas spring and suggest an adaptive design method.
유량제어를 통한 다세대 온돌 주택에서의 실내온도 개선에 관한 연구
신찬배 울산과학대학 2002 연구논문집 Vol.29 No.1
다세대 주택의 난방모델은 열흐름식을 사용하여 만들었다. 난방모델은 시뮬링크를 사용하여 모의실험하였다. 혼합밸브제어와 펌프속도제어기법을 비교하였다. 공급온도의 자동조정은 환수온도를 피드백하는 것을 제안한다. The heating model of an apartment house is developed by heat flow equation. The heating model is simulated by Simulink. Mixing valve control and pump speed control techniques are compared. The automatic adjustment of a supply temperature is suggested using the feedback of a return water temperature.
확률 마찰 특성을 갖는 공압 실린더 작동기의 비선형 제어
신찬배,조현철 한국기계기술학회 2015 한국기계기술학회지 Vol.17 No.2
Pneumatic cylinder actuators are significantly utilized for industry automatic systems in the fields of mechanical applications. We propose a novel control method for pneumatic cylinder actuator systems including stochastic friction dynamics. The proposed control mechanism is linearly composed of nominal control and auxiliary control variables. The former is designed from linear system model without friction terms by using a previous linear system theory and the latter is constructed as a function of friction estimation which is carried out by a well-known least square algorithm for reducing the control error due to random friction dynamics. We accomplish numerical simulation to demonstrate reliability of the proposed control method and conduct a comparative study to improve its superiority.
신찬배,이재원,사종엽,이상천,조성환,서항석,Shin, C.B.,Lee, J.W.,Sah, J.Y.,Lee, S.C.,Cho, S.H.,Suh, H.S. 대한설비공학회 1995 설비공학 논문집 Vol.7 No.3
The heat transfer model of ondol heating system is derived in the linear form. The step responses of On-Off controller, PID controller and Position type fuzzy controllers are compared in the sense of several aspects : variation of temperature feedback variable, variation of supplied heat quantity by the boiler, variation of flow rate, variation of thickness of the base, variation of the outdoor temperature.
이재원,신찬배 嶺南大學校 工業技術硏究所 1997 工業技術硏究所論文集 Vol.25 No.1
The heat distribution model of an ondol house is developed by heat flow equation. The heat distribution model is simulated by Simulink. Mixing valve control and pump speed control techniques are compared. The automatic adjustment of a supply temperature is suggested using the feedback of a return water temperature.
3D 비접촉 인식을 이용한 냉연코일 테이프부착 로봇 개발
신찬배(Chan-Bai Shin),김진대(Jin-Dae Kim) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.11
Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil’s information. In the proposed robot system for tape attachment, the problem is reduced to coil’s radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot’s base frame, the hand-eye compensation between robot’s end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.