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Pneumatic cylinder actuators are significantly utilized for industry automatic systems in the fields of mechanical applications. We propose a novel control method for pneumatic cylinder actuator systems including stochastic friction dynamics. The proposed control mechanism is linearly composed of nominal control and auxiliary control variables. The former is designed from linear system model without friction terms by using a previous linear system theory and the latter is constructed as a function of friction estimation which is carried out by a well-known least square algorithm for reducing the control error due to random friction dynamics. We accomplish numerical simulation to demonstrate reliability of the proposed control method and conduct a comparative study to improve its superiority.
The heat transfer model of ondol heating system is derived in the linear form. The step responses of On-Off controller, PID controller and Position type fuzzy controllers are compared in the sense of several aspects : variation of temperature feedback variable, variation of supplied heat quantity by the boiler, variation of flow rate, variation of thickness of the base, variation of the outdoor temperature.
본 연구는 각종 운송 수단에서 이동시 발생하는 진동이 객실 등에 전달되는 것을 방지하기 위해 3RRR타입의 병렬 로봇을 이용하여 능동제어를 실시한 것이다. 운송시스템의 정확한 절대적 위치를 모르는 상태에서 속도 및 가속도 값만을 피드백하여 진동을 감쇠하였으며 그 결과 운송시스템에서 발생하는 진동을 최대 8배까지 감쇠할 수 있었다. The desire for the stable and comfortable cabin of the high speed transport system is increasing. In this study, a new control system operated by 3RRR parallel robots such as the active suspension system of motor vehicle is proposed. The goal of this control is keeping zero velocity of the upper robot(cabin) although the lower robot(transport system) is moving randomly. Jacobian matrix was used to design the controller. From the simulation results, the remarkable reduction of motion of the cabin(upper platform) was observed.
This paper presents a robust position control of a ball & beam system Via LQG/LTR. The LQG/LTR design methodology is a systematic design procedure for designing high performance feedback control systems for both single-input and single-output(SISO) and multi-input and multi-output(MIMO) systems. It allows one to design a set of frequency domain specifications chosen appropriately for desirable command following and disturbance rejection properties with low sensitivity to modeling errors and sensor noise. It is found that the LQG/LTR design method has good performance in comparision with the classical control(PID-control) design method.
다세대 주택의 난방모델은 열흐름식을 사용하여 만들었다. 난방모델은 시뮬링크를 사용하여 모의실험하였다. 혼합밸브제어와 펌프속도제어기법을 비교하였다. 공급온도의 자동조정은 환수온도를 피드백하는 것을 제안한다. The heating model of an apartment house is developed by heat flow equation. The heating model is simulated by Simulink. Mixing valve control and pump speed control techniques are compared. The automatic adjustment of a supply temperature is suggested using the feedback of a return water temperature.
차종마다의 다양한 Tail Gate의 특성에 의해서 Gas Spring을 적용하기 위해서는 많은 문제점을 가지고 있다. 이 논문에서는 Tail Gate와 Gas Spring 사이의 일반적인 관계를 규명하고 향후 개발될 차종에 적용 가능한 설계방법을 제시한다. With the characteristics of various vehicle's tail gates, there are a lot of problems to adapt gas spring. In this paper, we prove the general relations between the tail gate and the gas spring and suggest an adaptive design method.
The heat distribution model of an ondol house is developed by heat flow equation. The heat distribution model is simulated by Simulink. Mixing valve control and pump speed control techniques are compared. The automatic adjustment of a supply temperature is suggested using the feedback of a return water temperature.
Recently, the in-line vision inspection has become the subject of growing research area in the visual control systems and robotic intelligent fields that are required exact three-dimensional pose. The objective of this article is to study the pc based in line visual inspection with the hand-eye structure. This paper suggests three dimensional structured light measuring principle and design method of laser sensor header. The hand-eye laser sensor have been studied for a long time. However, it is very difficult to perform kinematical analysis between laser sensor and robot because the complicated mathematical process are needed for the real environments. In this problem, this paper will propose auto-calibration concept. The detail process of this methodology will be described. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed in-line inspection module demonstrate the successful operation with hole, gap, width or V edge.