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백운보(Baek Woon-Bo),이영진(Lee Young-Jin) 동의대학교 정보통신연구소 2006 정보통신연구지 Vol.7 No.-
전동차의 자율주행을 위한 주행구동시스템은 크게 전기장치와 기계장치로 구성되어있다. 전기장치는 차량제어기, 인터페이스보드, I/O보드, 모터 드라이브로 구성되고, 기계장치는 조향장치, 속도장치, 제동장치로 구성된다. 주행구동시스템의 차량제어기와 각 차량제어 모듈의 기본사양 그리고 설계제작 방법에 대해 언급하고, 조향, 속도, 제동 모듈의 설계 및 구성 방법에 관하여 기술하였다. 본 주행구동시스템은 원격제어 기능과 통합되어 향후 자율주행 시스템의 하위 모듈로써 적용된다.
미지의 부하와 흔들림 각속도를 갖는 컨테이너 크레인의 2차 슬라이딩 모드 제어
백운보(Woon-Bo Baek) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.2
This paper introduces a sway suppression control for container cranes with unknown payloads and sway rates. With no priori knowledge concerning the magnitude of payload mass and sway rate, the proposed control maintains superior sway suppressing and trolley positioning against external disturbances. The proposed scheme combines a second order sliding mode control and an adaptive control to cope with unknown payloads. A second order sliding mode control without feedback of the sway rate is first designed, which is based on a class of feedback linearization methods for stabilization of the under-actuated sway dynamics of the container. Under applicable restrictions of the magnitude of payload inertia and sway rate, a linear regression model is obtained, and an adaptive control with a payload estimator is then designed, which is based on Lyapunov stability methods for the fast attenuation of trolley oscillations in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulation are shown in the existence of initial sway and external wind disturbances.
미지의 부하와 마찰을 갖는 컨테이너 크레인의 적응 가변구조제어
백운보(Woon-Bo Baek),임중선(Joong-Seon Lim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.10
This paper introduces an adaptive anti-sway tracking control algorithm for container cranes with unknown payloads and friction between the trolley and the rail. If the friction effects in the system can be modeled, there is an improved potential to design controllers that can cancel these effects. The proposed control improves the sway suppressing and the positioning capabilities of the trolley and hoisting against uncertain payload and friction. The variable structure controls are first designed based on a class of feedback linearization methods for the stabilization of the under-actuated sway dynamics. The adaptation mechanism are then designed with parameter estimation of unknown payload and friction compensation for the trolley and hoisting, based on Lyapunov stability methods for the accurate positioning and fast attenuation of trolley oscillation due to frictions in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulations are shown under various frictions and external winds in the case of no priori information of payload mass.
미끄럼 조향 로봇의 강인한 궤적 추종 제어에 관한 연구
백운보,김원호,Baek, Woon-Bo,Kim, Won-Ho 한국생산제조학회 2010 한국생산제조학회지 Vol.25 No.3
We consider the robust trajectory tracking control problem for a skid steering mobile robots. A dynamic model is derived accounting for the effects of wheel skidding. The control design utilizes the dynamic feedback linearization techniques, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The additive controller using the sliding mode type is then robustified against the unmodelled dynamics and parameter uncertainty. Simulation results show the good performances under excessively uncorrected estimations of the longitudinal forces and the lateral resistive forces caused by the skidding of the wheels in tracking trajectories.