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백운보(Baek Woon-Bo),이영진(Lee Young-Jin) 동의대학교 정보통신연구소 2006 정보통신연구지 Vol.7 No.-
전동차의 자율주행을 위한 주행구동시스템은 크게 전기장치와 기계장치로 구성되어있다. 전기장치는 차량제어기, 인터페이스보드, I/O보드, 모터 드라이브로 구성되고, 기계장치는 조향장치, 속도장치, 제동장치로 구성된다. 주행구동시스템의 차량제어기와 각 차량제어 모듈의 기본사양 그리고 설계제작 방법에 대해 언급하고, 조향, 속도, 제동 모듈의 설계 및 구성 방법에 관하여 기술하였다. 본 주행구동시스템은 원격제어 기능과 통합되어 향후 자율주행 시스템의 하위 모듈로써 적용된다.
마찰 보상을 갖는 컨테이너 크레인의 흔들림 억제 추종 제어
백운보(Woon-Bo Baek),신진호(Jin-Ho Shin) 한국생산제조학회 2012 한국생산제조학회지 Vol.21 No.6
In this paper, we consider the sway suppression control problem for container cranes with the frictions between the trolley and the rail. If the friction effects in the system can be modelled, there is an improved potential to design controllers that can cancel the effects. The proposed control improves the trolley positioning and sway suppressing against various frictions. The proposed synthesis combines a variable structure control and the adaptive control to cope with various frictions including the unknown constants. First, the variable structure control with the simple switching action is designed, which is based on a class of feedback lineariztion methods for the fast stabilization of the under-actuated sway dynamics of container. Second, the adaptive control with a parameter estimation is designed, which is based on Lyapunov stability methods for suppressing the oscillation of the trolley travelling, especially due to Coulomb friction in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulation are shown under initial sway, external wind disturbances, and various frictions.
미지의 부하와 마찰을 갖는 컨테이너 크레인의 적응 가변구조제어
백운보(Woon-Bo Baek),임중선(Joong-Seon Lim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.10
This paper introduces an adaptive anti-sway tracking control algorithm for container cranes with unknown payloads and friction between the trolley and the rail. If the friction effects in the system can be modeled, there is an improved potential to design controllers that can cancel these effects. The proposed control improves the sway suppressing and the positioning capabilities of the trolley and hoisting against uncertain payload and friction. The variable structure controls are first designed based on a class of feedback linearization methods for the stabilization of the under-actuated sway dynamics. The adaptation mechanism are then designed with parameter estimation of unknown payload and friction compensation for the trolley and hoisting, based on Lyapunov stability methods for the accurate positioning and fast attenuation of trolley oscillation due to frictions in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulations are shown under various frictions and external winds in the case of no priori information of payload mass.
백운보(Woon-Bo Baek) 한국생산제조학회 2012 한국생산제조학회지 Vol.21 No.1
In this paper, we consider the sway suppression control problem for container cranes with load hoisting. The proposed control law improves the positioning accuracy but also the sway suppression through fast stabilization of the under-actuated sway dynamics, which is based on a class of feedback linearizing control incorporated with an additional control including the sway angle and its rate as well as positioning errors and their rates. For the design of the additional control, a variable structure control with the proper sway damping and simple switching action is employed, thus preventing excessive overshoots of the trolley travelling and effectively suppressing the residual sway of container arrived at the target position. Simulation results are provided to show effectiveness of the proposed controller in the presence of such uncertainties as winds and the variation of payload weights.
미끄럼 조향 로봇의 강인한 궤적 추종 제어에 관한 연구
백운보(Woon-Bo baek),김원호(Won-Ho Kim) 한국생산제조학회 2010 한국생산제조학회지 Vol.19 No.1
We consider the robust trajectory tracking control problem for a skid steering mobile robots. A dynamic model is derived accounting for the effects of wheel skidding. The control design utilizes the dynamic feedback linearization techniques, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The additive controller using the sliding mode type is then robustified against the unmodelled dynamics and parameter uncertainty. Simulation results show the good performances under excessively uncorrected estimations of the longitudinal forces and the lateral resistive forces caused by the skidding of the wheels in tracking trajectories.
미끄럼 조향 로봇의 강인한 궤적 추종 제어에 관한 연구
백운보,김원호,Baek, Woon-Bo,Kim, Won-Ho 한국생산제조학회 2010 한국생산제조학회지 Vol.25 No.3
We consider the robust trajectory tracking control problem for a skid steering mobile robots. A dynamic model is derived accounting for the effects of wheel skidding. The control design utilizes the dynamic feedback linearization techniques, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The additive controller using the sliding mode type is then robustified against the unmodelled dynamics and parameter uncertainty. Simulation results show the good performances under excessively uncorrected estimations of the longitudinal forces and the lateral resistive forces caused by the skidding of the wheels in tracking trajectories.