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2자유도 H<SUB>∞</SUB> 제어기 종합 프레임웍에 기반한 유압식 Dipod 플랫폼의 강인제어기 설계
이영훈(Young-Hoon Lee),조택동(Taik-Dong Cho) 대한기계학회 2013 大韓機械學會論文集A Vol.37 No.6
유압식 Dipod 플랫폼은 기동차량에서 위성을 지향하는 안테나의 안정화 및 추적에 사용된다. 이러한 플랜트의 제어기 설계에는 외란제거와 추적 두 가지 성능목표 뿐만 아니라 강인성을 함께 절충해야 하는 제약조건으로 인해 1자유도 제어기에 비해 설계 유연성이 큰 2자유도 H∞ 제어기가 선호된다. H∞ 기반한 2자유도 제어기 종합방법에는 두 가지 프레임웍이 사용되는데 유압식 Dipod 플랫폼의 예를 통해서 일괄종합 방법이 더 우수한 성능을 보인 반면 분리종합 방법은 더 우수한 강인성을 보임을 확인할 수 있었다. H∞ 2자유도 종합방법에 따른 이러한 두 결과의 차이를 시스템 정합행렬의 구조화 특성을 통해 비교하여 보았다. A hydraulic dipod platform is used for tracking and stabilizing an antenna system to designate a satellite on a moving vehicle. The 2-DOF controller is very well suited to this controller design object because it is more flexible than the 1-DOF controller when the design object is not only the consideration between stabilizing and tracking but also the trade-off between performance and robustness. The 2-DOF controller synthesis based on the H∞ framework is divided into two design procedures. In this hydraulic dipod platform example, the single-step method shows better performance whereas the two-step method shows better robustness. The difference between these two synthesis results is compared using the structural property of the interconnection system matrix.
강희신(Hee-Shin Kang),서정(Jeong Suh),조택동(Taik-Dong Cho) 한국레이저가공학회 2008 한국레이저가공학회지 Vol.11 No.4
Remote Laser welding technology for manufacturing automotive body is studied. Laser welding and industrial robot systems are used for the robot based laser welding system. The laser system is sued 1.6kW Fiber laser(YLR-1600) of IPG. The robot system is used HX130-02 of Hyundai Heavy industry(payload : 130kg). The robot based laser welding system is equipped with laser scanner system for remote laser welding. The welding joints of steel plate and steel plate coated with zinc are butt and lapped joints. The quality test of the laser welding are through the observation the shape of bead on plate and cross-section of welding part. During past three years the laser system, 4kW Nd:YAG laser (HL4006D) of Trumpf was sued and the robot system, IRB6400R of ABB (payload:120kg) was used. The new laser source, robot and laser scanner system are sued to increase the processing speed and to improve the process efficiency. This paper introduces the robot based remote laser welding system to resolve the limited welding speed and accuracy of the conventional laser welding system.