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박중윤,황상철 金烏工科大學校 1993 論文集 Vol.14 No.-
Optimal position control of a flexible manipulator is studied. A slender flexible manipulator is modeled as Euler-Bernoulli beam with tip mass and a rigid hub. The vibration system of a flexible manipulator neglecting higher-order elastic vibrating modes is subject to become unstable because of the excitation of the residual modes. The classical control method is usually used is not suitable in this non-minimum phase system. It is shown that the PD control which is known as increasing the system damping is unstable. However, even in the non-minimum phase system, the system is stabilized by the optimal feedback control. LQG/LTR control law is more effective method for controller design of the physical control system than any other optimal control law. LQG/LTR design method and numerical results are presented.
하이브리드 외부가압 공기베어링에서 노즐 위치에 따른 부하지지력 특성
이득우,이종렬,황성철,이준석 한국공작기계학회 2000 한국공작기계학회 추계학술대회논문집 Vol.2000 No.-
Externally pressurized air journal bearing has been widely used in high-speed spindle system and precision machinery because of its characteristics such as substantially low frictional loss, low heat generation and averaging effect leading better running accuracy. But air journal bearing have a disadvantage of the low load capacity due to the low viscosity. In this paper. The air journal bearing design to overcome the defects of air bearing such as low stiffness and dimping coefficients was investigated theoretically.