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추정된 쿨롱 마찰을 보상한 볼-스크류 시스템의 위치제어
김한메(Han Me Kim),최정주(Jeong Ju Choi),이영진(Young Jin Lee),김종식(Jong Shik Kim) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.4
Coulomb friction is an important factor for precise position tracking control systems. The control<br/> systems with friction causes the steady state error because of being sensitive to the change of system<br/> condition and highly nonlinear characteristics. To overcome these problems, we use an estimation<br/> scheme of Coulomb friction to experiment for it's compensating. The estimated factor for Coulomb<br/> friction is used as a feed-forward compensator to improve the tracking performance of ball-screw<br/> systems. The tracking performance was improved by compensating the estimated friction torque in the<br/> feed-forward term. And, the sliding mode control which is derived from the Lyapunov stability theorem<br/> is applied for robust stability and reducing chattering. The experimental results show that the sliding<br/> mode controller with adaptive friction compensator has a good tracking performance compared with the<br/> friction uncompensated controller.
불확실성을 포함한 차량 조향장치의 강인 이산시간 슬라이딩 모드 제어
김한메(Han Me Kim),김두형(Doo-Hyung Kim),박경택(Kyoung Taik Park) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.4
This paper deals with the design of robust DSMC (Discrete-Time Sliding Mode Control) scheme in order to overcome system uncertainty in steering system with mechanically joined structure. The proposed control scheme is one of robust control schemes based on system dynamics. Therefore, system dynamics required is not obtained from physical law but SCM (Signal Compression Method) through experiment in order to avoid complicate mathematical development and save time. However, SCM has a shortcoming that is the limitation of with 2nd order linear model which does not include the dynamic of high-frequency band. Thus, considering system uncertainty, DSMC is designed. In addition, to reduce the chattering problem of DSMC, DSMC is derived from the reaching law and the Lyapunov stability condition. It is found that the proposed control scheme has robustness in spite of the perturbation of system uncertainty through computer simulation.
화상회의 영상에서 움직이는 화자의 분할 및 추적 알고리즘
최우영,김한메,Choi Woo-Young,Kim Han-Me 한국전기전자학회 2002 전기전자학회논문지 Vol.6 No.1
본 논문에서는 화상회의 영상 데이터에서 화자를 분할하고, 그 움직임을 추적하는 알고리즘을 제안하였다. 실시간 처리가 가능하도록 화자 분할과 움직임 추적 순으로 처리되는 알고리즘으로 단순화하였다. 분할 한계에서는 차분 방법에 의해 구한 움직임 정보와 영상의 밝기 정보를 사용하여 화자를 분할하였다. 분할된 화자로부터 기준 마스크 영상을 생성하였다. 움직임 추적 단계에서는 움직임 추적에 불필요한 블록들은 제외함으로써 빠르게 움직임을 추적할 수 있는 블록정합 알고리즘을 사용하여 추적하였다. 시뮬레이션에서 여러 시험 영상에 제안한 알고리즘을 적용하여 움직이는 화자를 분할하고, 그 움직임를 추적하는 올바른 결과를 얻을 수 있었다. In this paper, we propose the algorithm for segmenting the moving speaker and tracking its movement in the video conference image. For real time processing, we simplify the algorithm which is processed in the order of the segmenting and the tracking step. In the segmenting step, the speaker object is segmented from the image by using both the motion information obtained from the difference method and the illuminance information of image. The reference mask image is created from segmented speaker object. In the tracking step, the moving speaker is tracked by using simple block matching algorithm of which computation time is reduced by discarding the blocks which are classified into the unuseful blocks. In the simulation, we can get the good result of segmenting and tracking the moving speaker by applying the proposed algorithm to several test images.
신종민(Jong-min Shin),김한메(Han-me Kim),최정주(Jung-ju Choi),김종식(Jong-shik Kim) 한국자동차공학회 2003 한국자동차공학회 지부 학술대회 논문집 Vol.2003 No.10
The autonomous vehicle control system is presented in this paper. TI1C nonlinear vehicle model with the coupled inputs is considered. In our research. using Nonlinear transformation for decoupled input And in order to design of control system, the sliding mode control system is Used. Sliding mode control system leads to chattering. To reduce chattering. the modified sliding mode control law is proposed. Proposed control law involve system error state in signum term. Simulation results show that the proposed approach is effective to reduce chattering.<br/>
피드포워드 마찰 보상을 이용한 서보 시스템의 위치 제어
박민규(Min Gyu Park),김한메(Han Me Kim),신종민(Jong Min Shin),김종식(Jong Shik Kim) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.5
Friction is an important factor for precise position tracking control of servo systems. Servo systems with highly nonlinear friction are sensitive to the variation of operating condition. To overcome this problem, we use the LuGre friction model which can consider dynamic characteristics of friction. The LuGre friction model is used as a feed-forward compensator to improve tracking performance of servo systems. The parameters of the LuGre friction model are identified through experiments. The experimental result shows that the tracking performance of servo systems with higherly nonlinear friction can be improved by using feed-forward friction compensation.
장력 관측기를 이용한 웹 이송 시스템의 피드백 장력제어
한성익(Seong Ik Han),김한메(Han Me Kim),김종식(Jong Shik Kim) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
The main object of continuous web transport systems is to maintain a desirable tension of the web between rollers. The maintenance of a desirable tension in web transport systems has closely relation to prevent a fracture of the web and to improve web quality for manufactured goods. The common web transport systems usually maintain the tension between webs through modulating the velocity of rollers by doing feedback of a measured tension signal from only a few tension meter. This means that the part of measured tension signal as feedback signal is constructed to the closed-loop system structure and others except it are constructed to the open-loop system structure. Thus, in order to modify a partial closed-loop system structure to a complete closed-loop system structure, tension observer for estimating unmeasurable tension signal is proposed. From the results of computer simulation, the performance of the proposed system shows better than one of the common web transport system.
박경택(Kyoung Taik Park),김경한(Kyunghan Kim),김두형(Doo Hyung Kim),조규백(Gyu Baek Cho),김한메(Han Me Kim) 한국항해항만학회 2010 한국항해항만학회 학술대회논문집 Vol.2010 No.춘계
본 논문은 RTGC 시스템의 에너지 절감을 위한 에너지 저장 시스템에 대해 다룬다. 에너지 저장 시스템으로는 베터리, 슈퍼캐패시터 그리고 플라이휠의 장점과 단점이 조사되었다. 이들 에너지 저장 시스템들 중 플라이휠 에너지 저장시스템은 현재 해결되어야 할 기술 및 가격적인 측면에도 불구하고 향후 기술의 발전을 전제를 뒀을 때 매우 촉망받는 에너지 저장시스템임이 조사되었다. 또한, 컨테이너 이송에 사용되는 RTGC에서 베터리와 플라이휠 에너지 저장 시스템이 각각 사용된 경우에 대해 에너지 절감에 대한 결과가 정량적으로 조사되었다. This paper deals with energy storage system for saving the energy of RTGC(rubber tired gantry crane). Advantage and disadvantage of battery, super-capacitor, and flywheel as an energy storage system were surveyed. Even if a flywheel energy storage system includes some problems such as manufacturing technique and high price, it is surveyed with a promising energy storage system. In addition, RTGCs using battery or flywheel as the energy storage system were quantitatively presented through a survey of literatures. It was found that the both RTGC with those systems can reduced the waste of energy.