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최병욱,임계영,고경철 제어·자동화·시스템공학회 1999 제어·자동화·시스템공학논문지 Vol.5 No.5
This paper discusses a real time multi-tasking system model and a development environment for an elevator control system. Recently, as the elevator systems become large-scaled and operate with high speed, there are lots of software tasks to be processed with time constraints. Thus, the control systems are designed with distributed control structure and characteristics of typical real time systems. For structural design of such real time system, we introduce a multi-tasking model based on a real time operating system model and an software development environment based on virtual prototyping which simulates real system operation in the cross development environment. The developed system model and the development environment are successfully applied to development of a new elevator system with distributed control structure and its system reliability can be verified through numerous field tests.
Adaptive Feedforward Compensation in Wheel Servo Control for Autonomous Mobile Robots
Koh, Kyoung Chul 선문대학교 ·중소기업기술지원연구소 1999 선문공대 연구/기술 논문집 Vol.4 No.1
본 논문에서는 휠구동형 자율이동로봇을 위한 휠제어 시스템의 설계방법을 다룬다 로봇에게 좀 더 안정되고 정화한 경로추종 능력을 제공하기 위해, 적응형 피이드포워드 보상기를 휠서보제어에 적용한다 제어시스템으로 PC를 기반으로 한 하드웨어 구조를 제안하고, 전체 제어 소프트웨어를 휠제어기와 경로제어기를 연결구성함으로써 프로그램 하였다 피이드포워드 보상기는 이론적으로 시리즈 확장으로부터 얻어진 근사 역모델을 기반으로 설계되어 진다 플랜트 모델의 불확실성을 고려하여, 온라인 변수 추정기를 사용하여, 보상기 게인을 결정하는 적응형 구조로 보상기를 설계한다. 제안된 휠제어기법의 효과를 보이기 위해, 실제 이동로봇인 LCAR에 대해 여러 가지의 경로제어 실험을 수행 하였다 ln this paper, a design of a wheel control system for autonomous wheeled mobile robots is considered To provide the robots with more stable and accurate path tracking capabilities, an adaptive feedforward compensation is applied to the wheel servo control system For the control system, a hardware architecture based on personal computer is proposed and overall control software is programmed by combining the wheel controller with a path tracking controller. The feedfforward compensator is theoretically based on the approximate inversion model which has been developed from series of expansion To cope with uncertainties in the plant model, it is implemented as the adaptive version which employs an on-line parameter estimator To demonstrate the validity of the proposed wheel control scheme, a series of path tracking experiments were conducted for a prototype mobile robot with various path tracking motion.