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인간형 로봇의 자세제어를 위한 안정화 제어를 이용한 퓨전 센서 시스템 개발
박진성(Jinseong Park),박영진(Youngjin Park),박윤식(Youn-Sik Park),홍덕화(Deokhwa Hong),이현기(Hyunki Lee),조형석(Hyungsuck Cho) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
Position estimating fusion sensor system is proposed to control attitude of the humanoid robot. To apply vision sensor to control the attitude of the humanoid robot we should solve limitations of vision sensor which are low sampling frequency, estimation time delay and limited estimation range. Sensor fusion with MEMS gyro sensor can remove estimation time delay and increase sampling frequency. Stabilization control can remove limited estimation range by regulating of the vision sensor to initial position all the time. In this research, humanoid robot is modeled as one axis inverted pendulum which represents a leg of the humanoid robot.
인휠 모터 전기 자동차의 히브와 피치 운동 제어에 대한 동적 분석
박진성(Jinseong Park),박영진(Youngjin Park),박윤식(Youn-Sik Park) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
Dynamic analysis of ride control for In-wheel motor in Electric vehicle is studied using Degree of Disturbance Rejectability. Half car model including heave and pitch motions as well as longitudinal motion is used and actuator dynamics is augmented to emphasize the advantage of in-wheel motor compared to internal combustion engine. It is found that ride control when vehicle is driven at random noise is possible only with in-wheel motor while internal combustion engine vehicle need additional suspension controller to control heave and pitch motion because internal combustion engine has very low response.
Optimal Input Design for Fault Identification of Overactuated Electric Ground Vehicles
Jinseong Park,Youngjin Park IEEE 2016 IEEE Transactions on Vehicular Technology VT Vol.65 No.4
<P>The design of optimal input for fault identification in electric ground vehicles (EGVs) that use four independent in-wheel motors and four-wheel steering is presented in this paper. As the number of motors and steering actuators increases beyond the number of controlled variables, an EGV becomes an overactuated system, which provides actuator redundancy and the possibility of fault-tolerant control in the case of faults that occur in vehicle elements, such as its sensors and actuators. To ensure the reliability of the EGV during driving, online fault identification is needed, and its performance is directly dependent on the input signals. The input can be designed using the control allocation method, which is one approach to manage actuator redundancy. The proposed control allocation maximizes the sensitivity of the system output to parameters related to the fault position, while the system output is simultaneously controlled to maintain stability and follow the desired vehicle motions, even when faults occur. Simulations using the commercial software CarSim are performed to show the effectiveness of the proposed optimal input design method for fault identification; the performance of the system is compared with the conventional white noise perturbation input with equal power.</P>
Vibration Reduction Control of Omnidirectional Mobile Robot with Lift Mechanism
Jinseong Park,Doo-Yeol Koh,Jeong-Jung Kim,Chang-Hyun Kim 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
An omnidirectional mobile robot with lift mechanism has been developed to assist worker to transport heavy goods placed on high position. However, as the center of gravity heightens and the stiffness decreases with introducing the lift mechanism, and the suspension is adopted for consistent contact between mecanum wheel and the ground, a large amount of vertical vibration is inevitable. In this paper, the simultaneous controller for the driving velocity tracking and vibration reduction without additional actuators is developed based on a combined model with longitudinal and vertical motion, i.e. a suspended cart-pole inverted pendulum model. Proper Filters were designed to effectively remove uninterested characteristics such as mecanum wheel roller contact vibration and static inclination so that the performance of the vibration reduction controller can be optimized. From the experimental results, the performance of the proposed method is verified that the magnitude and time of residual vibration greatly reduced.