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박재식,노영오,안병원,남택근,Park Jae-Shik,Roh Young-Oh,Ahn Byung-Won,Nam Taek-Kun 한국마린엔지니어링학회 2004 한국마린엔지니어링학회지 Vol.28 No.7
In this paper, a trajectory tracking problems using SMC(sliding mode control) is presented. In the conventional method. SMC has been applied to linear systems and the output matrix C has to satisfy a restrictive condition that CB is nonsingular. Under suitable assumptions, decoupling SMC can be adapted to remove the restriction mentioned above. The Proposed control strategy is applied to trajectory tracking control and simulations results are given to demonstrate the effectiveness of the proposed control scheme.
비 간섭 슬라이딩 모드 기법을 이용한 로봇 매니퓰레이터의 궤도제어
남택근(Taek-Kun Nam),노영오(Young-Oh Roh),안병원(Byung-Won Ahn) 대한기계학회 2004 대한기계학회 춘추학술대회 Vol.2004 No.11
In this paper, we proposed the decoupling VSS controllers for n trajectory control of n two degrees of freedom SCARA type manipulator. We decoupled the position and velocity of n manipulator tip by using a nonlinear error functions. The reference inputs of the controller can be decided directly from the desired position and velocity. Simulation result is provided to verify the effectiveness of the proposed control scheme.
비 간섭 슬라이딩 모드 기법을 이용한 로봇 매니퓰레이터의 궤도제어
남택근(Taek-Kun Nam),노영오(Young-Oh Roh),안병원(Byoung-Won Ahn) 한국마린엔지니어링학회 2004 한국마린엔지니어링학회 학술대회 논문집 Vol.2004 No.-
In this paper, we proposed the decoupling VSS controllers for a trajectory control of a two degrees of freedom SCARA type manipulator. We decoupled the position and velocity of a manipulator tip by using a nonlinear error functions. The reference inputs of the controller can be decided directly from the desired position and velocity. Simulation result is provided to verify the effectiveness of the proposed control scheme.
남택근(Nam Taek-Kun),노영오(Roh Young-Oh),오세준(Oh Se-Jun) 한국마린엔지니어링학회 2007 한국마린엔지니어링학회 학술대회 논문집 Vol.2007 No.-
A nonholonomic system can be derived from velocity and acceleration constraints which is not integrable. It was interesting object since the nonhlonomic system cannot be stabilized its equilibrium points by time-invariant and continuous controller. In this paper, chained transformation procedure which is a method to control nonholonomic system and singularity occurred during its transformation were introduced.
남택근(Taek-Kun Nam),김철승(Chol-Seong Kim),노영오(Young-Oh Roh),박영산(Young-San Park) 한국항해항만학회 2004 한국항해항만학회 학술대회논문집 Vol.3 No.-
본 논문에서는 속도 구속조건을 갖는 수중이동체를 초기위치로부터 목적위치에 접안하는 제어기법에 대해서 논의한다. 단, 수중이동체는 일정방향으로 속도성분을 갖지 않는 즉, 속도구속조건을 가지는 것으로 가정한다. 본 논문에서는 이러한 시스템에 대하여 비 홀로노믹적인 관점에서 시스템을 해석하고 수중이동체를 체인드폼으로 변환한 후 Multi-rate 디지털 제어기법를 적용하여 자세제어를 행하고 수치시뮬레이션을 통하여 제어기법의 유용성을 평가하였다. In this paper, we study the stabilization control of an underwater vehicle from its initial posture to its desired one. We assume that the underwater vehicle has velocity constraint, i.e. it has no velocity component for some direction. Our approach is based on the nonholonomic system which can derived from velocity constraints that cannot integrable. We proposed a control strategy for posture control of the underwater vehicle using multi-rate digital control. The proposed control scheme is applied to the berthing control of an underwater vehicle and verified the effectiveness of control strategy by numerical simulation.
남택근(Taek-Kun Nam),이돈출(Don-Chul Lee),노영오(Young-Oh Roh) 한국항해항만학회 2008 한국항해항만학회 학술대회논문집 Vol.2008 No.공동학술
본 연구에서는 선박의 진동계측을 위한 프로그램 개발에 대해 언급하고자 한다. 선박에서는 선체진동 및 엔진과 관련 회전기기의 진동을 계측하여 선박의 안전성을 평가하고 엔진과 부속장비에 대한 운전 상태를 분석하게 된다. 이를 위해서는 진동 계측이 필요하고 본 연구에서는 이러한 진동계측 시스템을 경제적이고 콤팩트하게 구성할 수 있는 방법을 제시 및 개발하였다. 개발된 프로그램을 선박 내 거주공간의 진동계측에 활용하였고, 실험을 통하여 진동계측 시스템의 유용성을 확인할 수 있었다. In this paper, a development of vibration measurement program for ships is discussed. Hull vibration and engine vibration were measured to analyze ships safety and to evaluate the operating conditions of engine. Some vibration measurement system is needed to analyze safety or operating conditions of rotating machineries. A vibration measurement system which has compactness and economic feasibility is developed in this research. Developed program is applied to measure the vibration signal in living space of ship and verified the usefulness of the vibration measurement system.
스트레인 게이지를 응용한 용접선 추적 센서에 관한 연구
배철오(Cherl-O Bae),안병원(Byong-Won Ahn),노영오(Young-Oh Roh),조동훈(Dong-Hoon Cho),엄한성(Han-Sung Eom) 한국마린엔지니어링학회 2003 한국마린엔지니어링학회 학술대회 논문집 Vol.2003 No.-
There are many kinds of seam trackers in the industrial welding field. We are proposed the seam tracking sensor applying strain gauges kind of contact sensor in this paper. The experiment device consist of strain gauge sensor, amplifier circuit of strain gauge signal, saw wave generator, MOSFET power diving circuit and X - Y slide by moving DC motor. The tacking areas are X - Y planes(left, right, up and down) and the change of strain gauge resistance cause to move DC motor that connected to X - Y slide. As a result of experiment, the strain gauge sensor tracks a seam well by DC motor driven by PWM control.
남택근(Nam Taek Kun),이돈출(Lee Don Chul),노영오(Roh Young Oh),허광석(Heo Gwang Seok) 한국마린엔지니어링학회 2006 한국마린엔지니어링학회 학술대회 논문집 Vol.2006 No.-
In this paper, a development of shaft power measuring system for a rotating machinery is discussed. It is important that the exact power measurement of marine engine since the engine power is related to ship's usage and its shaft design. The engine equipped on the ship is assumed to rotating machine which can generate mechanical power by electrical energy. Two gearwheel and magnetic sensors are applied to measure torsional angle on the shaft. High resolution encoder is also applied to compensate the output signal from gearwheel. The calculation of shaft power is executed using measured signal and angular velocity of rotating machine.
A Study On The Controller Design Of Vibration Isolator
레당카잉(Dang-Khanh Le),남택근(Taek-Kun Nam),노영오(Young-Oh Roh) 한국마린엔지니어링학회 2010 한국마린엔지니어링학회 학술대회 논문집 Vol.2010 No.4
In this study the controller design for vibration isolator is discussed. The vibration isolator is developed to eliminate an influence of vibration generated from engines and other rotating machinery in the small boats. The vibration isolator developed is composed of plate, connecting rod and crank mechanism driven by electrical motor. A relation between control force and torque generated from motor is analyzed and pole-placement control method is applied to derive an adequate force. Some analysis result is introduced to verify the effectiveness of control procedure.