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양순용,진성민,최정주,이창돈,김용석 사단법인 유공압건설기계학회 2009 드라이브·컨트롤 Vol.6 No.4
Hydraulic excavators are the representative of field robot and have been used in various fields of construction. Since the excavator operates in the hazardous working environment, operators of excavator are exposed in harmful environment. Therefore, the hydraulic excavator automation and remote operation system has been investigated to protect from the hazardous working environment. In this paper, remote operation excavator system is developed using the mini hydraulic excavator and the tracking control system of each links of excavator is designed. To apply the tracking control system, the adaptive sliding mode control algorithm is proposed. It is found that the performance of the proposed control system is improved through experimental results of using the remote operation excavator system.
양순용 울산대학교 1999 공학연구논문집 Vol.30 No.2
본 논문에서는 휠로다의 굴삭상차 작업시 버켓으로 퍼올린 적재물의 중량을 계측하는 새로운 알고리즘에 관한 연구이다. 구체적으로는 붐회전각 및 붐실린더의 상승측 유실의 압력을 측정하여 각각의 붐회전각 및 압력을 통해 그 때의 적재중량을 계산한다. 설정된 붐회전각의 범위 내에서 연산된 적재중량값 중 최고값 및 최저값 일부의 평균치를 적재중량으로 산정한다. 이러한 연산작업이 굴삭상차 작업 중에 실시간으로 이루어지므로 계측을 위해 장비의 작동을 멈추는 일없이 작업을 계속하면서도 정확한 적재중량이 가능하도록 하였다. This paper is toward the development of the payload measurement algorithm for a wheel loader. The payload is calculated at each boom rotation angle position by measuring both boom rotation angle and boom cylinder pressure. The peak and the bottom values of the payloads calculated above are selectively averaged and its result is assigned to the payload. All the computing processes for the payload are executed in real time. And then, it is possible to continue loading process of the wheel loader without any stop measuring its payload.
산업용 전기차량의 주행 모터용 보상된 Bang-Bang 전류제어기 개발
양순용 울산대학교 1998 공학연구논문집 Vol.29 No.2
본 논문에서는 직류직권모터에 대한 견실한 전류제어기의 설계를 목적으로 부하의 부적당한 변수 하에서 직류직권모터를 이용한 최소시간 토오크 제어를 할 때 PID + Bang-Bang 제어기 보다 간단한 하드웨어구조와 실시간 소프트웨어 부담이 적은 보상된 Bang-Bang 전류제어기를 one chip 마이크로프로세서를 이용하여 구현하였다. 디지털 스위칭 소자의 비선형 동작특성에 기술함수법을 도입하여 보상된 Bang-Bang 전류제어기의 실시간 구현 및 제어알고리즘과 PWM 발생알고리즘을 제안하였다. This paper proposes a method of compensated Bang-Bang current control using a series wound motor driver system under improperly variable load to get minimum time torque contro. A compensated Bang-Bang current controller structure is simpler than the structure of PID plus Bang-Bang controller. This paper shows that a general one chip microprocessor be used efficiently implementing such an algorithm. The calculation time of the software is extremely small when compared with conventional PID plus Bang-Bang controller. Both nonlinear operating characteristics of digital switching elements and describing function methods are used for the analysis and synthesis. Real time implementation of the compensated Bang-Bang current control is achieved. Concept design strategy of the controller and PWM waveform generation algorithms is presented in the paper.
양순용(Soonyong Yang),김용석(Yongseok Kim),고주현(Joohyun Ko),정광식(Gwangsik Jeong),어태선(Taeseon Eo) 한국자동차공학회 2012 한국자동차공학회 지부 학술대회 논문집 Vol.2012 No.11
At the engine room of medium speed and low speed engines, various assistive devices are installed to accomplish operation by mutual relationship. For the operation of engine and assistive devices, the condition of engine and engine room must be monitored and recorded at all times for the safety of system and optimum operation status. Also, as the optimum operating condition gets to have important effect on the life span of engine because the engine is installed at the site, a steady monitoring and control must be accomplished for the performance or durability of engine and to be operated under normal conditions. In this study, a wire/wireless communication system transmitting the operation data of engine from the ER(Engine Room) to the engine controller of ECR(Engine Control Room) has been developed through the communication of ISM(Industrial Science Medical) band for the test operation environment improvement of medium speed engine. This wire/wireless communication system is composed of the RTU(Remote Terminal Unit) gathering and transmitting engine data as well as the MCU(Master Control Unit) receiving engine status information from the RTU to be sent to the engine controller(PLC). Through this study, a trial product of RTU and MCU has been manufactured. A test bench that has made temperature, pressure and pick-up sensor into a module for the local test of trial product will be designed to manufacture a test bench in the future. And the field test will be performed under the test operation environment of medium speed engine by going through a local test.
H∞제어를 이용한 Anti-lock Brake System의 슬립율 제어 시스템의 설계
양순용,최종환 울산대학교 1999 공학연구논문집 Vol.30 No.2
본 논문에서는 Anti-lock Brake System(ABS)에서 명령추종성능과 견실안정성를 모두 만족하는 제어기를 제안하였다. ABC에서는 슬립율-차체속도와 바퀴의 각속도와의 비율을 제어하여 최적의 제동력으로써 자동차의 방향 안정성을 높이고 짧은 시간 안에 자동차를 정지시키도록 한다. ABC의 제어 시스템은 바퀴와 도로면 사이의 접촉특성에 비선형성이 포함되고, 수학적 모델링을 할 때에 모델링 오차에 대하여 크게 영향을 받는다. 본 연구에서는 자동차의 제동특성에 크게 영향을 미치는 바퀴와 도로면 사이의 접촉특성의 변화에 따른 비선형성을 평형점 부근에서 선형화를 실시하고, 공칭모델에 대한 PID제어기 시스템에 모델링 오차에 대하여 견실한 H∞제어기를 설계하므로써 명령추종성능과 견실안정성을 모두 만족하는 제어기를 설계하고자 한다. This paper proposes the method to perform a linearization of Anti-lock Brake System(ABC) vehicle and to design a controller which has the robust-stability and better command-following-performance under modeling-error from uncertain parameter variation. ABC vehicle, by controling slip ratio, which is body velocity to wheel velocity, can get optimum braking force. For the nominal model PID controller is designed which is used in simple and general cases. Owing to parameter variation, the gain of PID controller have to be newly turned. Consequently, by adding H∞controller on the PID controller, achive the robust-stability and better command-following-performance even though modeling-error from uncertain parameter variation exist.