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Robust Control System Design for Robot Motion Regeneration under Disturbance Input
Dac-Chi. Dang(당닥치),C. N. Kang(강창남),Y. B. Kim(김영복) 유공압건설기계학회 2015 드라이브·컨트롤 Vol.12 No.3
In this paper, the authors propose a method to easily recognize and reproduce the robot motion made by an operator. This method is targets for applications similar to painting and welding, and it is based on a process of that identifies a family of plants, by control design and by conducting an experimental evaluation. In this study, the models and controllers for all joints of 3DOF robot system are obtained individually. And a robust control system for motion control of the individual joints is designed based on H∞ control framework. An experimental comparison is made between the proposed control method and existing PID control method. And the results indicate that the proposed designing method is more efficient and useful than conventional method.
박진길(J.G.Park),정주윤(J.Y.Chung),강창남(C.N.Kang),박재식(J.S.Park),김항배(H.B.Kim) 한국해양대학교 해사산업연구소 1993 海事産業硏究所論文集 Vol.3 No.-
The application of A.C. motor as'servomotor is rapidly increased with the recent advance of power electronics and digital control methods. The induction motor which has a simple structure and needs less maintenance is used in the industrial field for the variable speed and position control. In this paper. the current characteristics of the system composed of R.L.C. load and series bridge inverter is investigated through the results of computer simulation and experiment to look for the good properties of A.C. motor driven by the above inverter. The time schedule of conventional bridge inverter and the parameters such as resistance and damping coefficient of load is changed for good results. It is possible to get the load current of similar sine wave under various conditions.
이상목(S.M.Lee),강창남(C.N.Kang),양도순(D.S.Yang),김창수(C.S.Kim) 한국자동차공학회 1998 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1998 No.5_1
The fuel injection pump injects fuel into engine's cylinder with a optimal injection quantity and timing by the driver's condition and input status of vehicle sensors. The Governor and Timer of existing mechanical fuel injection pump has its control limit for the low degree of freedom. It is developed and applied by a 16-bit microprocessor and electronic governor and timer of solenoid style for electronic control in this study, so that it's injected in optimal injection quantity and timing and upgraded its degree of control.<br/>
AC 전동기 구동용 저역통과 LC필터를 가진 디지탈 인버터의 교류전원 파형 개선
박진길(J.G.Park),강창남(C.N.Kang),정주윤(J.Y.Chung),노영오(Y.O.Roh) 한국해양대학교 해사산업연구소 1996 海事産業硏究所論文集 Vol.5 No.-
Recently, the AC motor which has a simple structure and needs less maintenance has become to be used frequently as a servomotor for position control in the automatic control field. This paper concerns with a method to improve the current waveveforms of the variable speed30 AC motor system driven by the single-pulse PWM, and the current waveforms are analyzed by FFT under various running conditions. The system is composed of a digital bridge inverter, low pass LC filter, and 3Φ AC motor. By the performance anaysis through the computer simulations and experiments , AC source of pseudo sine waveform can be obtained from the modulated alternating square voltage by means of the well designed LC filter.