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고하중 불평형 회전체의 정속 주행 제어기 설계를 위한 유연체 제어 기반 시뮬레이션 플랫폼 구축
박광현(Gwang Hyeon Park),남경태(Kyung Tae Nam),이상무(Sang Mu Lee),안기탁(Gi Tak An),류성무(Sung Mu Ryu),구자춘(Ja Choon Koo) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
It is important that constant velocity of gantry of 3D fluoroscopy for correct digital image processing. But constant velocity driving is difficult because gantry has heavy mass and eccentric loads. So a design of control algorithm and performance evaluation are needed for constant velocity of gantry of 3D fluoroscopy. But it is difficult that performance evaluation of control algorithm because of a special quality of 3D fluoroscopy. And flexible model analysis is necessary for resonance and displacement. So motor, reductor and unbalanced gantry of 3D fluoroscopy are designed with multibody dynamic analysis program, and simulation platform is designed for performance evaluation of robust control algorithm against disturbance. Dive performance such as velocity ripple in various condition was observed. So this paper proposes a design of flexible model simulation platform of imbalanced rotor with heavy mass for evaluation of control algorithm for constant velocity.
비선형강성의 유연관절로봇을 위한 가속도기반 비선형관측기 설계
이승준(Seung-Joon Lee),김형종(Hyungjong Kim),남경태(Kyung-Tae Nam),국태용(Tai-Young Kuc) 대한전기학회 2015 전기학회논문지 Vol.64 No.3
In this paper, we consider the observer design problem that truly reflects the nonlinear stiffness of the manipulators. The two key ideas of our design are that (a) estimation error dynamics of the manipulator equipped with accelerometer dose not dependent on nonlinearities at the link part, when the measured signals are the motor position and the output of the accelerometer and (b) the nonlinear stiffness is indeed a Lipschitz function. In order to effectively compensate the nonlinear stiffness, the gain of the proposed observer is carefully chosen from the ARE(algebraic Riccati equations) which depend on Lipschitz constant. Comparative simulation result verifies the effectiveness of the proposed solution.