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임승철,용대중 한국소음진동공학회 1997 소음 진동 Vol.7 No.3
This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.
임승철,정태영 한국소음진동공학회 1998 소음 진동 Vol.8 No.3
Recently, optical disk drives are increasingly demanded to have higher speed as well as high information density, especially for applications like CD ROM drives. To this end, improvement of their optical pickup structure and control is recognized the very challenging issue. In this paper, the pickup is first analytically modelled in a plane to describe its coupled auto-focusing and auto-tracking motions. Subsequently, the model is linearized and combined with actuator dynamics for the auto-focusing system. With its unmeasurable parameters being estimated based on experimental data, an approximate I-DOF linear model is obtained neglecting the coupling term. To design the high speed and robust positional servo controller realistic design specifications are addressed, and H control method is employed based on the approximate model. Finally, taking the pickup in a commerical high speed CD ROM drive as an example performance of the designed controller is verified through realtime experiments.
임승철,김윤영 한국소음진동공학회 1996 소음 진동 Vol.6 No.4
Recently, higher speed optical disk drives including computer CD-ROM drives tend to be increasingly demanded to read or write the enormous volume of digital data. To this end, both structure and controller designs of the optical pick-ups should be improved concurrently. In this paper, the pick-up during auto-focusing motion is mathematically modelled retaining all its peculiar features. The model turns out a linear time invariant system suitable for a control design namedH${\infty}$ which ensures robust stability in the presence of system uncertainties. Numerical simulations are performed to demonstrate the robustness with appropriate performance specifications being satisfied. In addition, as the implementation issue of it, procedures of temporal discretization as well as model reduction of the controller are also addressed.
간헐 회전식 약실을 적응한 자동포 시스템의 디지털 제어
임승철,김기갑,심정수,길성진,김홍철,이건하,차기업,조창기,홍석균,Lim, S.C.,Kim, K.K.,Shim, J.S.,Kil, S.J.,Kim, H.C.,Lee, G.H.,Cha, G.U.,Cho, C.K.,Hong, S.K. 한국군사과학기술학회 2007 한국군사과학기술학회지 Vol.10 No.2
Lately, there exist growing demands to increase the firepower of mid-calibre automatic guns despite spatial limitations of armament. In this context, ammunitions of simple cylindrical shape are considered so advantageous that associated automatic guns are under development incorporating an intermittently rotating chamber mechanism. In this paper, relevant subsystems for such guns are to be described, and a digital controller to automate the entire system as well. Via dynamic simulations it proves to function well being able to drive the chamber at any constant speed up to 200spm, which is merely limited by the recoil performance. It is remarkable that the system synchronization idea in use is applicable to any other multi-actuator systems that should operate on the basis of event rather than time.
무선랜 환경에서 AP간 전력임계치값을 통한 호 처리 연구
임승철 한국인터넷방송통신학회 2015 한국인터넷방송통신학회 논문지 Vol.15 No.3
스마트폰과 많은 무선단말기들이 이동성의 특성상 AP간 이동하게 되어 무선단말들과 AP(Access Point)간 많은 호 절체가 이루어지게 된다. AP에서 각 무선단말기마다 처리되는 호 처리는 상대적으로 많은 무선트랙픽을 유발 하여 무선대역의 효율적인 활용을 저해하는 요인이 되고 있다. 따라서 본 논문에서는 무선단말기와 AP간의 트래픽 발 생요인이 되고 있는 AP간 호 절체 트래픽양을 줄이기 위해서 무선단말기에 수신되는 AP들의 전력세기임계치와 임계 타이머를 사용하여 AP에서 효과적으로 무선트랙픽을 활용할 수 있는 방안을 제안하였다. 제안된 방식과 기존의 방식 을 시뮬레이션을 통하여 AP에서 처리하는 무선트래픽 양이 개선되어 전체적으로 무선대역의 활용을 효율적으로 할 수 있었다. A smart phone and the number of wireless terminals are mobile-to the nature of the AP mobility are many call transfer between wireless terminals and AP (Access Point). Each wireless terminal that is the call processing process for each is relatively large to cause the wireless traffic, and a factor that inhibits the efficient use of the radio band on the AP. In this paper, we use the power intensity threshold and threshold timer of the AP received by the mobile station to reduce the amount of switching traffic between the AP's cause and traffic generation factors between the wireless device and the AP that can effectively utilize the radio traffic from the AP the measures proposed. The proposed method and the conventional method is improved by simulation to handle the amount of radio traffic from the AP it was confirmed that it is possible to effectively utilize the whole of the radio band.
임승철,김기갑,심정수,길성진,이건하,차기업,조창기,홍석균,Lim, S.,Kim, K.K.,Shim, J.S.,Kil, S.J.,Lee, G.H.,Cha, G.U.,Cho, C.K.,Hong, S.K. 한국군사과학기술학회 2006 한국군사과학기술학회지 Vol.9 No.1
Lately, there exist growing demands for the use of CTAs(Cased Telescoped Ammunitions) to increase the firepower of mid-calibre automatic guns despite spatial limitations of armament. In this paper, for automatic CTA guns a rotating chamber mechanism is designed based on parallel index concept. Via dynamic simulations it proves capable of smooth operation even at as high a firing rate as 200spm. Subsequently, motor controllers are synthesized to drive the chamber at any constant speed and also to control positions in the presence of large disturbances caused by the intermittently-rotating load. It is remarkable that we successfully adopted a disturbance observer to treat disturbances only with a moderate bandwidth of the closed-loop system.