http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
다자유도 기계 시스템의 모션 제어를 위한 동기된 온라인 궤적 생성 방법
원대희(Daehee Won),신은철(Eunchol Shin) 대한전기학회 2017 전기학회논문지 Vol.66 No.9
This work presents a synchronized on-line trajectory generation algorithm for mechanical system with multiple degrees-of-freedom. Proposed algorithm is designed to generate time-optimized trajectories and synchronized trajectories under the constraints such as maximum speed, acceleration, deceleration, non-zero initial velocity, etc. Also, because of small computation time, therefore this can be applied in real-time and it is easier to change the trajectory when an event occurs. We verified the feasibility through various trajectory generation.
영구 자석형 동기전동기의 불확실한 부하 관측기 설계 및 백스테핑 위치 제어 기법
원대희(Daehee Won),김소연(Soyeon Kim),조자양(Ja-Yang Cho),신은철(Eunchol Shin),소병록(Byungrok So) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.6
We propose a load torque estimator based on the backstepping control of permanent magnet synchronous motors (PMSMs) for robot joints. The load torque estimator is designed to estimate an unknown load torque that include a constant load torque. An auxiliary state variable is proposed to avoid amplifying of the measurement noise in the load torque estimator. The backstepping control method uses a Lyapunov function to compensate for the unknown load torque while tracking the desired rotor angle. The closed-loop stability of the proposed method is studied using the Lyapunov theorem. As a result, the proposed method improves the rotor angle tracking performance in the presence of an unknown load torque. Its performance is validated via simulations.
전기 유압 서보 시스템의 비선형 외란 관측기 기반 피드백 선형화 제어
원대희(Daehee Won),김원희(Wonhee Kim),정정주(Chung Choo Chung) 대한전기학회 2015 전기학회논문지 Vol.64 No.2
We propose a disturbance observer(DOB) based feedback linearization control to improve position tracking performance in the presence of disturbance. The proposed method consists of a disturbance observer and a feedback linearization controller. The disturbance observer is designed to estimate the load force disturbance in electro-hydraulic systems. An auxiliary state variable is proposed in order to avoid amplification of the measurement noises in the disturbance observer. Using the estimated disturbance enables the Electro-hydraulic servo systems(EHS) dynamics to be changed into feedback linearization from. In order to compensate for the disturbance and to track the desired position, the feedback linearization based controller is proposed. The proposed method has a simple structure which can easily be implemented in practice. As a result, the proposed method improves the position tracking performance in the presence of disturbance. Its performance is validated via simulations.