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고창민(Chang-Min Ko),박승규(Seung-Kyu Park),정원지(Won-Ji Chung),김두형(Doo-Hyeong Kim),정광조(Gwang-Jo Chung) 대한전기학회 2008 정보 및 제어 심포지엄 논문집 Vol.2008 No.1
본 연구는 6축 초중량물 핸들링 로봇의 제어 성능을 구현하기 위해 전체적이 로봇의 제어에 가장 중요한 요소인 2축과 3축만을 가진 2축으로 된 실험용 로봇을 설계 제작하고 모션 제어기를 직접 설계하여 드라이브를 토크모드로 설정하고 구동실험을 수행하였다. 제어기로는 DSP를 사용하였으며 이는 초중량물을 핸들링하기 위해서는 샘플링주기를 작게 하기 위함이다. 해 연산 · 실행 속도가 빠른 DSP를 이용하였다. DSP와 AC 서보모터 드라이브 간의 인터페이스를 설계 · 제작 하였으며, PI제어기 알고리즘을 설계하여 직선보간 알고리즘에 적용함으로써 최종목적인 가반하중이 600㎏급 부하에도 강한 초중량물 핸들링 지능형 6축 로봇의 실현을 위해 원하는 경로를 부하의 영향에 받지 않는 고속 · 고응답성을 구현할 수 있는 2축 로봇제어에 대한 실험을 수행하였다. 속도, 위치제어에 대한 알고리즘으로는 PID 제어기를 사용하였다. 본 연구의 의의는 초중량물 핸들링 로봇의 제이에 있어서 로봇의 설계 및 제작이 최적화되어 있다면 작은 부하용 로봇의 제어와 크게 다를 바 없음을 보여주는데 있다.
강인한 비례적분 슬라이딩 모드를 이용한 초중량물 로봇의 제어
고창민(Chang-Min Ko),박성훈(Seong-Hun Park),이현석(Hyun-Seok Lee),김민찬(Min-Chan Kim),박승규(Seung-Kyu Park),김두형(Doo-Hyeong Kim),정광조(Gwang-Jo Chung) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
This paper presents comparative experimental results of PI sliding mode control and PI control for a heavy duty robot which can handle an object of 600kg, The gains of the PI control was determined by TAE(Trial and Error) method. This paper presents a novel approach for the decoupling of the states cross-coupling using sliding mode control. The sliding mode control methode is based on the error between reference speeds and the actual speed. The proposed method has the advantages of PI control performance and the sliding mode control robustness. Its first step is to design PI controller, then the sliding mode control input term is added to it. This makes actual implementation of the controller easier. The robot and motion controllers were designed and made by author. The good control performance of the heavy duty robot was obtained by using simple algorithm. This means that the robot was designed very well in control respect.
박성훈(Seong-Hun Park),고창민(Chang-Min Ko),이현석(Hyun-Seok Lee),박승규(Seung-Kyu Park),안호균(Ho-Gyun Ahn) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
The purpose for this paper is to obtain the H<SUB>∞</SUB> LMI with fuzzy PI controller for induction motor which is nonlinear system. The controller type is PI and the control gains are obtained based on H<SUB>∞</SUB> control problem. The PI controller is considered a part of a plant and the problem is changed to get controller with static gains. The nonlinear system is approximated as several linear systems and combined by using fuzzy technique.
이현석(Hyun-Seok Lee),고창민(Chang-Min Ko),박성훈(Seong-Hun Park),박승규(Seung-Kyu Park),안호균(Ho-Kyun Ahn) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
Nowadays DC-DC converter has been used widely in electronic production. It has a high requirement in wide input voltage, load variations, stability, providing a fast transient response and the most important thing is that it can be applied easily and efficiently. However, it is not easy to be controlled because of nonlinear system. This study introduces a fuzzy linear control design method for nonlinear systems with optimal H<SUP>∞</SUP> robustness performance. First, the Takagi and Sugeno fuzzy linear model is employed to approximate a nonlinear system. Next, based on the fuzzy linear model, a fuzzy controller is developed to stabilize the nonlinear system, and at the same time the effect of external disturbance on control performance is attenuated to a minimum level. Thus based on the fuzzy linear model, H<SUP>∞</SUP> performance design can be achieved in nonlinear control systems. Linear matrix inequality (LMI) techniques are employed to solve this robust fuzzy control problem. PI control structure is used and the control gains are determined based on H<SUP>∞</SUP> control.
댄스스포츠선수들의 스트레스와 경기몰입, 인지된 경기력의 인과관계
정진영(Jung, Jin-Yung),김채은(Kim, Chae-Eun),고창민(Ko, Chang-Min) 한국체육과학회 2017 한국체육과학회지 Vol.26 No.5
The objective of this study is to verify the adjusting effect and concentration on the game in the cause-and-effect relationship among the stress, concentration on the game, and recognized performance among dance sport players and the relationship between stress and recognized game performance. In order to achieve the objective, survey has been distributed on 109 dance sport players for the analysis. First of all, stress from the judgment of referee turned out to negatively influence on the concentration of the game. Secondly, stress from weight control and judgment from the referee turned out to negatively influence on recognized performance. Third, concentration on the game turned out to positively on recognized performance. Fourth, interaction between the stress from the judgment of the referee and concentration on the game turned out to positively influence on recognized performance. Hereupon, the adjusting effect of concentration on the game has been verified.