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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.
Design of Moving Magnet Type Optical Pickup Actuator with High Frequencies of the Flexible Modes
송명규(Song, Myeong-Gyu),김윤기(Kim, Yoon-Ki),박영필(Park, Young-Pil),유정훈(Yoo, Jeong-Hoon),박노철(Park, No-Cheol) 한국소음진동공학회 2007 한국소음진동공학회 논문집 Vol.17 No.11
Data transfer rate and storage capacity are main criteria of the performance of the optical disk drive. The highest data transfer rate and the largest storage capacity is most desirable. To increase these performances, the actuator of the optical disk drive should have a high servo bandwidth to compensate the vibration of an optical disk. The servo bandwidth is limited by some flexible modes of the actuator, thus it is essential to increase the natural frequencies of the flexible modes. In this paper, we suggested a moving magnet type actuator having high frequencies of the flexible modes. Generally, the moving magnet type actuator has an advantage to increase the natural frequencies of the flexible modes because the moving magnet type actuator has simple structure and the Young's modulus of magnet is high. However, large moving mass and inefficiency of EM(electromagnetic) circuit cut down driving sensitivities of the actuator. To improve driving sensitivities, we designed the model with the closed electromagnetic circuit for tracking direction. In addition, driving sensitivities and the natural frequencies of the flexible modes were improved by using DOE(design of experiments) for electromagnetic circuit and modifying the lens holder.
MLCC 에 의해 기판에서 발생하는 소음 분석 및 예측
박노철(No-Cheol Park),김동준(Dong-Joon Kim),고병한(Byung-Han Ko),박영필(Young-Pil Park),박흥길(Heung-Kil Park) 한국소음진동공학회 2014 한국소음진동공학회 학술대회논문집 Vol.2014 No.10
MLCC is one of the most frequently used component in high-tech device like smart phone. Because of dynamic characteristic of piezoelectric materials which is main ingredient of MLCC, its vibration leads to acoustic noise from pcb. To solve this problem at minimal cost, company has to change only the main noise-generating MLCC to low noise-generating MLCC. To find the main noise source, this study approached to solution from a vibration point of view. From mode shapes of pcb at particular frequencies, two groups can be obtained; MLCCs soldered at where maximum deformation occurs and where anti-phase with respect to the other group appears. When the MLCC belongs to 1st group does not working, amplitude at where maximum deformation occurs decreases compared to when all MLCCs are working. This tendency also appears in noise measurement. This analysis can be put to use in various fields where require noise reduction or noise source identification.