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Steven Aurecianus,Taesam Kang(강태삼),Chung Gwon Han(한충권),Jungkeun Park(박정근) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.9
A Crimp Force Monitor (CFM) is equipment for detecting crimp errors by analyzing crimp signals obtained from force and strain sensors. The analysis is commonly performed by aligning a measured crimp signal with a reference signal and comparing their difference. Current analysis methods often suffer from wrong alignments that result in false negative detections. This paper presents a new crimp signal analysis method in CFM. First, a falling edge alignment is proposed that matches falling edges of the measured and the reference signals by minimizing the absolute difference summation. Second, a signal parameter error is introduced to evaluate the crimp quality difference between the measured signal and the reference. For calculating the signal parameter error, part of a signal is identified and divided into several regions to maximize the signal parameter errors. Experiments showed that the proposed method can improve the signal alignment and accurately detect bad crimps especially with the strain sensor.
Lateral Mode Controller Design for Insect-like Tailless Flapping-Wing Micro Air Vehicle
Steven Aurecianus,Hoang Vu Phan,Jungkeun Park(박정근),Hoon Cheol Park(박훈철),Taesam Kang(강태삼) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.1
In this study, proposed is a PD (Proportional-Derivative) controller for the roll and yaw motions based on the linearized and non-coupled lateral mode dynamic model of the flapping-wing micro air vehicle (FW-MAV) called KUBeetle. First, the lateral mode dynamics model is cascaded with the dynamics of the sensors, filters, and servos to obtain more accurate dynamic model. Then, the stability and robustness of the closed loop control system is analyzed using root locus and H∞ norm stability criteria. From the analyses, the robustly stabilizing PD control gains are determined. It Is found that the simple PD controller of roll motion has big overshoot and large steady error, even though the closed loop system is very stable. To improve the roll controller performance, a loop shaping compensator is designed and cascaded to the proportional feedback part of the roll control loop. It is shown that the complex compensator improves the roll response, and it does not affect much the closed loop stability robustness of the roll control loop. The real flight test was done to check the performance of the proposed control loop and it shows that lateral motion follows the reference command very well as in the simulation.
날갯짓 초소형 비행체에서의 자이로스코프 및 가속도계 센서 동적 특성에 대한 연구
Steven Aurecianus,나유승,판호앙부,박훈철,강태삼 제어·로봇·시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.11
Sensors have become inseparable components in designing control systems, but performance is often degraded by noise from the environment or system. In this paper, the performance of a gyroscope and accelerometer on a flapping wing micro aerial vehicle (FW-MAV) was studied. The effect of a flapping wing on the sensors was observed. The benefit of using a mechanical damper or foam were also compared. The vibration generated by the flapping motion caused the accelerometer to suffer rectification errors, leading to bias or offset shifts in the measurement. Common filtering methods, such as low pass filters and complementary or Kalman filters, are affected by this problem. This study demonstrates that the use of foam can reduce the rectification error significantly.