마이크로 컴퓨터를 이용한 맨-머시인 시스템에 의한 최적제어 문제의 해법

박종국,배준경,노승룡 慶熙大學校 1984 論文集 Vol.13 No.-

This paper discribes the man machine system based on micro-computer for solving optimal control problems which are basically different in many point from the ordinary solving methods by use of big computer. The proposed man machine system is consist of a simulator related to a given differential equation system. CRT display unit showing instantaneous states of the simulator, micro-computer system for calculating the performance index value function, and a man who plays a role as a part of the overall system. In this man machine system, there are two feedback loops which are the conditional reflection loop and the intelligent feedback loop. By using this man machine system, some experiments were tested to solve optimal control problem of one dimensional heat conduction process. As a result, it was showed that the solutions by man machine system are reasonable ones when that are compared with the solutions by numerical calculation.

회피운동을 위한 목표물 유도제어기의 구성

박종국 慶熙大學校 1983 論文集 Vol.12 No.-

Evassive target maneuvers for a point-mass target pursued by a point-mass missile steered by proportional navigation are discussed in this paper. The criterion for determining the target guidance law is maximization of the final miss distance. To do this, two methods are presented for determining an evassive target guidance law. The first method assumes ideal target dynamics with bound on the maximum target acceleration, and derives target acceleration switching function, which maximized the final miss distance by formulating and solving the adjoint system of equations. The second method assumes a first-order lag for the target dynamics, and models the problem as a linear regulator. This method yields and optimal guidance controller. As the results, the graph of optimal acceleration switching function and the graph of optimal feedback gains are presented.

기계적 매니퓰레이터를 위한 직교영역에서의 최적경도설계와 3차 다양식 Joint궤적의 구성

박종국,배준경,김태산 慶熙大學校 1988 論文集 Vol.17 No.-

To assure a successful completion of an assigned task, the hand of mechanical manipulator often travels along a preplanned path. This paper presents a method of obtaining a time schedule of velocities and accelerations along the path that the manipulator may adopt to obtain a minimum traveling time, under the constraints of composite. Cartesian limit on linear and angular velocities and accelerations. Because of involvement of a linear performance index and large number of nonlinear inequality constraints, which are generated from physical limitations, the “method of approximate programming(MAP)” is applied. In order to adopt optimal path planning, MAP is modified. To reduce the computing time a “direct approximate programming algorithm(DAPA)”is developed. Using cubic spline function, a path in Cartesian coordinates is approximated by functions of joint variables. Program in FORTRAN language have been written on VAX 11/780, they are illustrated by a numerical example.

적응모델추정제어방법을 이용한 로보트 매니퓰레이터제어 기법

朴正一,金元圭,朴鍾國 慶熙大學校 1990 論文集 Vol.19 No.-

The advanced control method is proposed that the combination open-loop, closed-loop controller and the Adaptive Model Following Controller (AMFC). The adaptation mechanism appears in the form of a supplementary feedback loop which will improve the performance of the Linear Model Following Control (LMFC) Systems.

두 산업용 로보트 매니퓰레이터의 최소시간 경로제어에 관한 연구

朴鍾國,金鍾守 慶熙大學校 1991 論文集 Vol.20 No.-

Hybrid control method is widely used as control method of robot manipulators, but it is the method of steady equiblium state analysis and can't simultaneusly control. Current industrial manipulators are typically controlled in a non―minimum time manner. And because of the highly nonlinearlity of robot parameters, robot manipulators can't be controlled accurately. In this paper, we generate the desired path minimum time path, using the maximum velocity and optimal velocity of manipulators, and propose the new controller that is included the dynamic equations based on the Hybrid control method and is appended to be insensitive to the parameter uncertainty.

직교영역에서 강건한 로보트 매니퓰레이터 제어기 설계

박종국,배준경 慶熙大學校 1988 論文集 Vol.17 No.-

A simple scheme for linear multivariable control of robot manipulator to achieve trajectroy tracking in cartesian space is described in this paper. The control scheme is derived from linear multivariable theory and is consisted of multivariable feedforward and feedback controllers. The feedforward controller is minimal inverse of the linearized model of robot dynamics and contained only proportional double-derivative(PD^2) type. This controller ensures that the manipulater joint angles track any reference trajectories. The feedback controller is of proportional derivative (PD) type and achieves stability and pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady state tracking of step-plus exponential trajectories is achieved. To show the performance of control system, the proposed scheme is simulated of the 2 link planar manipulator using the VAX 11/780 computer.

유연성을 갖는 로보트 매니퓨레이터의 동적방정식 시뮬레이션에 의한 분석

朴鍾國,배준경,최호선 慶熙大學校 1987 論文集 Vol.16 No.-

High performance requirements such as high speed operation, accuracy and versatility have led to the considration of structural flexibility in robot manipulator. The purpose of this paper is to investigate the interrelationships between the robot structural flexibility and a linear controller for the rigid body motion. The controller used here is used to simulate the controllers currently used in industrial robots. The simulation results illustrate the differences between leadscrew driven and unconstrainted axes of the robot: they indicate the trade-off between speed and accuracy.

VCR, VCG 회로소자를 이용한 비선형 회로망의 합성

박종국,조종덕,노승룡 慶熙大學校 1982 論文集 Vol.11 No.-

A systematic synthesis method for nonlinear driving-point and transfer function is presented with the introduction of two network elements, Voltage-Controlled Resistor and Voltage-Controlled Conductor, and their dual elements. The driving-point immittance of a VCR and VCG are analogous to that of an Inductor and Capacitor with S replaced by a variable V or I. By this analogy, the network functions of VCR, VCG are rational functions of V and I. Application of R, VCR, VCG networks in realizing nonlinear driving-point and transfer characteristic curves are discussed, and experimental realization are given to agree with the theoretical results.

Lyapunov 방법을 이용한 로보트 매니퓰레이터 적응제어기 설계

金鍾守,金元圭,朴鍾國 慶熙大學校 1990 論文集 Vol.19 No.-

In this paper, the new controller is proposed based on the conventional MRAC scheme and linear PD(Proportional and Derivative) controller. For the dynamic equation of robot manipulator the linearized dynamic equation using the Taylor Series at the operating point is chosen, and the adaptive algorithm is developed by Lyapunov stability method.

로보트 매니퓰레이터에 대한 강건한 적응제어기 설계

安秀寬,朴世勝,裵悛坰,朴鍾國 慶熙大學校 1989 論文集 Vol.18 No.-

In this paper a new adaptive control algorithm is derived, with the unknown manipulator and payload parameters being estimated online. In pratice, we may simplify the algorithm by not explicitly all unknown parameters. Futher, the controller must be robust to residual time - varying disturbance, such as stiction or torque ripple. Also, the reference model is a simple double integrator and the acceleration input for robot manipulator consists of a proportion and derivative controller for trajectory tracking purposes. The validity of this control is confirmed in simulation where two - link robot manipulator shows the robust performances in spite of the existing nonlinear interaction and unknown parameter changes.