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박노철,양현석,박영필,Park, No-Cheol,Yang, Hyun-Seok,Park, Young-Pil 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.6
This paper is concerned with the position control of the ond degree-of freedom manipulator using pneumatic artificial muscle actuator which is built to have a proper compliance. For t his pneumatic artificial muscle actuator though, it is difficult to make an effective control scheme due to the nonlinearity and uncertainties on the dynamics of the actuator. In this paper, a third-order equation of motion is derived for the actuator including the dynamics of the pneumatic servovalve. Later, various modeling uncertainties due to the nonlinearity and unmodeled dynamics of the servo vlave and the actuator are taken care of, as a trade-off between the closed-loop performance of the controlled system and its robustness to uncertainties. A controller using .mu. synthesis thchnique is designed, and robust performance against measurement noise, various modeling uncertainties due to the dynamics of the servo valve and actuator is achieved. The effectiveness of the proposed control methods is illustrated through simulations and experiments.
$\mu$-합성법에 의한 유연한 조작기의 위치 및 진동제어
박노철,양현석,박영필,Park, No-Cheol,Yang, Hyun-Seok,Park, Young-Pil 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.10
When a robot is to have contact with its enviornment, such as a medi-care robot, it would be advantageous for the robot to have a high compliance. For this reason, a robot having not only a flexible link but also an actuator with compliance, is desirable. This paper is concerned with the position and vibration control of 1 degree of freedom flexible robot using a pneumatic artificial muscle actuator. The dynamics of the manipulator assumed to be and Euler-Bernoulli beam are derived on the basis of the linear mathematical modle. Although this pneumatic artifical muscle actuator has many merits for the compliance robot, it is difficult to make an effective control scheme of this system because of ths nonlinearity and uncertainty on the dynamics of the actuator. By designing a controller using .mu.-synthesis, robust performance against measurement noise, various modeling uncertainties on the dynamics of the servo valve, actuator and mainpulator, is achieved. The effectiveness of the proposed control method is illustrated through simulations and experiments.
Real Time Tilt Servo Control of The Holographic Data Storage System
문재희,김상훈,양준호,양현석,박노철,Moon, Jae-Hee,Kim, Sang-Hoon,Yang, Jun-Ho,Yang, Hyun-Seok,Park, No-Cheol The Society of Information Storage Systems 2007 정보저장시스템학회논문집 Vol.3 No.1
The purpose of this paper is real time tilt servo control of the holographic data storage system. Holographic data storage device is a next generation data storage device with high storage density, high transfer rate and short access time. This device is very sensitive to a disturbance due to the enormous storage density. As to the recording material changed disc type, the media continuously vibrates as the disc rotates. When disc rotates, deviation, eccentricity and unbalance disturbance are occurred. This disturbances cause disc tilt, finally reference beam does not illuminates to correct incidence angle. Therefore real time tilt servo control is essential. In this paper, the algorithm is proposed to make real time tilt detection in angle multiplexing of the holographic data storage system with an additional servo beam and the experiments are performed.
정동하(Dongha Jung),박노철(No-Chol Park),양현석(Hyunseok Yang),박영필(Young-Pil Park) 대한기계학회 2002 대한기계학회 춘추학술대회 Vol.2002 No.5
This paper proposes a new positioning mechanism with a dual parallel type actuator using piezoelectric material for an optical disc drive. A VCM(Voice Coil Motor) works as a coarse motion actuator with a wide range of operation while a piezoelectric actuator achieves fine motion, high precision and high bandwidth tasks. The dynamic model of the proposed dual parallel type actuator consisting of piezoelectric bimorph PZT is derived from Hamilton's principle. A PD controller is designed for seek control of the VCM and a lead-lag controller is designed for tracking control of the piezoelectric actuator and the VCM actuator. A parallel loop control is used for trucking control of the dual actuator composed with the piezoelectric actuator and the VCM. The performance of the proposed system is verified through simulation and experiment.
초소형 광자기 드라이브용 HGA의 신뢰성 및 충격 해석
오우석(Oh, Woo-Seok),박노철(Park, No-Cheol),양현석(Yang, Hyun-Seok),박영필(Park, Young-Pil),홍어진(Hong, Eo-Jin) 한국소음진동공학회 2004 한국소음진동공학회 논문집 Vol.14 No.12
With respect to the researches of the optical flying head(OFH) , the head-gimbal assembly should be analyzed to guarantee the stable fabrication and the characteristics of shock resistance. The suitable design is proved through the Probabilistic analysis of the design parameters and material properties of the model. Probabilistic analysis is a technique that be used to assess the effect of uncertain input parameters and assumptions on your analysis model. Using a probabilistic analysis you can find out how much the results of a finite elements analysis are affected by uncertainties in the model. Another factor is analysis of the dynamic shock analysis. For the mobile application, one of the important requirements is durability under severe environmental condition, especially, resistance to mechanical shock. An important challenge in the disk recording is to improve disk drive robustness in shock environments. If the system comes in contact with outer shock disturbance. the system gets critical damage in head-gimbal assembly or disk. This paper describes probabilistic and dynamic shock analysis of head-gimbal assembly in micro MO drives using OFH slider.
Controller Design of Piezoelectric Milliactuator for Dual Stage System
홍어진(Hong, Eo-Jin),박노철(Yang, No-Cheol),양현석(Park, Hyun-Seok),박영필(Park, Young-Pil) 한국소음진동공학회 2003 한국소음진동공학회 논문집 Vol.13 No.12
To reach high areal density, less track pitch is expected and more servo bandwidth is required. One approach to overcoming the problem is by using dual stage servo system. For this system. we have suggested new milliactuator based on the shear mode of piezoelectric elements to drive the head suspension assembly. In this paper, we introduce milliactuator and controller design method, PQ method. PQ method reduces the controller design problem for DISO (dual-input/single-output) systems to two standard controller design problems for SISO ( single-input/single-output) problems. The first part of PQ method directly addresses the issue of actuator output contribution, and the second part allows the use of traditional loop shaping to achieve the overall system performance. This paper shows how to employ the PQ method to meet aggressive close-loop performance specifications for a disk drive system with a VCM and piezoelectric milliactuator.