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강인한 서보계설계와 R/C헬리콥터 트레이닝 시뮬레이터 제어에의 응용
김상봉,박순실 대한기계학회 1991 대한기계학회논문집 Vol.15 No.2
In this paper, a new construction for training simulator of R/C helicopter based on two types of servo controller is proposed. Two modified algorithms (algorithm I and II) for servo controller design are presented. Algorithm I is developed by adopting Davison's method in the case that the expressions for the homogeneous differential equations of reference input and disturbance are different types, and algorithm II is done by considering error weighting function for the servo controller of algorithm I . The linear fractional transformation method is incorporated in both design methods in order to assign the closed loop poles of the servo system in a specified region. The helicopter simulator is composed by the gimbals with two freedom of rolling and pitching. The reliability and validity for the design methods of the proposed servo controller are investigated through the practical experiment for the simulator by using 16bits micro-computer with A/D and D/A converters. It can be observered from the experimental results that the proposed servo controller is applicable to practical plants since the simulator is robust for the arbitrary disturbance and it follows to the given reference input without significant steady state error.
Sliding Mode Control of Spot Bead Welding Mobile Robot
충탄람(T. L. Chung),박순실(S. S. Park),부이트롱 휴(T. H. Bui),김상봉(S. B. Kim) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
In shipbuilding industry, it is needed to make uniform welding beads on the floor of ship. In this paper, a sliding mode controller is applied to a two-wheeled spot bead welding mobile robot (SWMR) to track a straight line and make spot bead of welding. The mobile robot, is considered in terms of dynamic model with known parameters in the presence of disturbances. To obtain the controller, two sliding surfaces of velocity tracking error and posture error are chosen, and the controller is extracted from the sliding condition to stabilize the sliding surface. The control system uses a camera sensor for measuring the errors. Also, the welding experiments are carried out to verify the proposed controller.