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김한메,박성환,이지민,김종식 한국정밀공학회 2010 International Journal of Precision Engineering and Vol. No.
In general, the position control of electro hydrostatic actuator(EHA) systems is difficult because of the large variation of the effective bulk modulus of the working fluid, which is due to the absence of a heat exchanger like a reservoir tank, the friction between the cylinder and piston, and the external disturbance force. Moreover, it is difficult to identify the values of the effective bulk modulus and friction. In this paper, the variation of the effective bulk modulus, friction, and external disturbance are considered as uncertainties of EHA systems. To solve the problems due to these system uncertainties, an adaptive back-stepping control scheme with fuzzy neural networks(FNNs) is proposed. The effectiveness of the adaptive back-stepping control(ABSC) system with FNNs was compared with those of the standard back-stepping control(BSC) system and the ABSC system through computer simulation.
김한메,한성익,김종식 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.11
To improve position tracking performance of servo systems, a position tracking control using adaptive back-stepping control(ABSC) scheme and recurrent fuzzy neural networks(RFNN) is proposed. An adaptive rule of the ABSC based on system dynamics and dynamic friction model is also suggested to compensate nonlinear dynamic friction characteristics. However, it is difficult to reduce the position tracking error of servo systems by using only the ABSC scheme because of the system uncertainties which cannot be exactly identified during the modeling of servo systems. Therefore, in order to overcome system uncertainties and then to improve position tracking performance of servo systems, the RFNN technique is additionally applied to the servo system. The feasibility of the proposed control scheme for a servo system is validated through experiments. Experimental results show that the servo system with ABS controller based on the dual friction observer and RFNN including the reconstruction error estimator can achieve desired tracking performance and robustness.
김한메,최우영 명지대학교 산업기술연구소 2001 産業技術硏究所論文集 Vol.20 No.-
In this paper, we propose the simple and fast algorithm for tracking a moving object using mask image created by separating the object from the background in image sequence. By using simple full search block matching algorithm based on the mask image, we can simplify the algorithm. In the motion estimation process, the computation time can be reduced by discarding the blocks which are classified into the unuseful blocks. As a result of simulation, we have observed that the proposed algorithm provides a good moving object tracking result.
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.
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.