퍼지 추론 시스템을 이용한 아날로그형 자기위치 장치의 위치 정밀도 향상

김정민(Jungmin Kim),정경훈(Kyunghoon Jung),정은국(Eunkook Jung),조현학(Hyunhak Cho),김성신(Sungshin Kim) 한국지능시스템학회 2012 한국지능시스템학회논문지 Vol.22 No.3

본 논문은 아날로그형 자기위치 장치(magnetic positioning system)의 개발과 퍼지 추론 시스템(FIS: fuzzy inference system)을 통한 정밀도 향상에 관한 것이다. 자기위치 장치는 무인운반차(AGV: automatic guided vehicle)의 자기-자이로 유도장치(magnet-gyro guidance system)에 사용되는 장치로, 바닥에 매설된 자석의 위치를 계측하는 장치이다. 기존의 판매되고 있는 자기-자이로 유도 장치는 외국에서 독점 판매되고 있어, 국내에서는 가격이 매우 비싸다. 또한, 자기위치 장치에 디지털 타입의 단극성 홀센서를 이용하기 때문에 위치측정 정밀도가 낮다. 이에, 본 논문에서는 자기위치 장치를 직접 개발하였고 퍼지 추론 시스템을 통해 자기위치 장치의 정밀도 향상시켰다. 실험은 직접 개발한 아날로그형 자기위치 장치를 이용하였으며, 기존의 위치측정 방법과 제안된 방법의 성능을 비교하였다. 실험 결과, 제안된 방법이 자기위치 장치의 정밀도를 향상시킴을 확인하였다. This paper presents a development of an analog type magnetic positioning system and its positioning accuracy improvement using fuzzy inference system. As the magnetic positioning system used on a magnet-gyro guidance system for AGV(automatic guided vehicle), it measures a position of magnet embedded in floor of the work place. The existing product of the magnetic positioning system is very expensive in Korea because it is being sold in a foreign country exclusively. Moreover, the positioning accuracy of the product is low because it uses digital type unipolar hall sensors. Hence, we developed the magnetic positioning system by ourselves and improved the positioning accuracy of the developed magnetic positioning system using fuzzy inference system. For experiment, we used the analog type magnetic positioning system which we have developed, and compared the performance of the proposed method with the performance of the existing positioning method for the magnetic positioning system. In experimental results, we verified that the proposed method improved the positioning accuracy of the magnetic positioning system.

양극성 자기유도센서의 성능 향상을 위한 퍼지 추론 시스템

박문호(Moonho Park),조현학(Hyunhak Cho),김광백(Kwangbaek Kim),김성신(Sungshin Kim) 한국지능시스템학회 2014 한국지능시스템학회논문지 Vol.24 No.1

자기테이프를 사용하는 대부분의 경량무인운반차들(AGCs)은 디지털 자기유도센서를 사용한다. 디지털 자기유도센서는 On/Off 타입으로 자기테이프의 위치측정 정밀도가 10?50 mm의 오차를 가진다. 또한 경량무인운반차에 설치된 모터의 자기장이나 주변 환경의 외부 자기장, 지자기 등으로 인하여 정확한 위치를 추정하기 힘들다. 이러한 오차로 인하여 경량무인운반차의 주행 시에 잦은 흔들림이 발생하게 되고, 정도가 심할 경우 이탈현상이 발생하게 된다. 따라서 본 논문은 양극성 아날로그 자기유도센서에 퍼지 추론 시스템의 적용을 제안한다. 퍼지는 다른 알고리즘에 비하여 내고장성과 불확실성에 강인하고, 실시간 작동에 유리하며, 비선형시스템에 사용하기 적합하다. 선행과제에서 제작한 양극성 아날로그 자기유도센서로 threshold를 두어 디지털 자기유도센서를 형성하고, 이를 이용하여 자석위치 값을 계산한다. On으로 인식된 아날로그 Hall sensor의 출력을 이용하여 퍼지 추론 시스템을 설계하고, 그 출력으로 디지털출력 값을 개선한다. 실험 결과, 제안된 방법이 기존의 자기유도센서보다 성능이 향상된 것을 확인하였다. Most of light duty AGVs(AGCs) using tape of magnetic for the guide path have digital guidance magnetic sensor. Digital guidance magnetic sensor using magnet-tape is on/off type and has positioning error of magnet-tape as 10 ?50 mm. AGC using this sensor doesn"t induce accurate position of magnet-line which is magnet-tape because of magnetic field which motor in AGC creates, outer magnetic field, earth"s magnetic field, etc. AGC when driving wobbles due to this error and this error can cause path deviation. In this paper, we propose fuzzy inference system for improvement of bipolar analog magnetic guidance sensor performance. Fuzzy is suitable in term of fault tolerance, uncertainty tolerance, real-time operation, and Nonlinearity as compared with other algorithms. In previous research, we produced bipolar magnetic guidance sensor and we set the threshold in order to calculate digital values of magnet position. Fuzzy inference system is designed using outputs of Analog hall sensors. Magnet position calculated by digital method is improved by outputs of this system. In result, proposed method was verified by improving performance of magnetic guidance sensor.

무인반송차를 위한 마그네틱 가이던스 시스템의 개발

유영재(Young-Jae Ryoo) 한국지능시스템학회 2019 한국지능시스템학회논문지 Vol.29 No.3

이 논문에서는 자계유도방식의 무인반송차을 위한 새로운 마그네틱 가이던스 시스템을 제안한다. 자율주행이 가능한 무인반송차는 마그네틱 가이던스를 이용하여 자계 테잎이나 자계 마커를 인식하여 주행할 수 있다. 새로운 마그네틱 가이던스 시스템 개발을 위해 이 논문에서는 자계 마커의 모델링 및 해석을 통하여 다수의 자계센서를 이용한 자계위치 추정기법을 제안한다. 제안한 자계위치 추정 기법은 수직 자계의 선형영역을 이용하여 자계 마커의 위치를 추정할 수 있다. 실험을 통해 자계 마커의 위치 변화에 따라 마그네틱 가이던스 시스템을 이용하여 위치를 추정하고 실제 위치와 오차를 분석하였다. 제안한 시스템은 기존의 자계 분포가 비선형적인 특성으로 인한 실시간 처리와 제약된 컴퓨팅 자원의 한계를 극복할 수 있다. In this paper, a new magnetic guidance system for an automated guided vehicle based on magnetic guiding method. The automated guided vehicle can drive by recognizing the magnetic tape or magnetic markers using a magnetic guidance system. In order to develop a new magnetic guidance system, we analyzed a model of a magnetic marker and proposed a magnet position estimating technique using multiple magnetic sensors. By the experiment, the magnetic marker’s position is estimated and compared with the real marker’s position. The proposed method can overcome the problems of the real time processing and the limited computing power due to the nonlinear calculations of magnetic fields.

A Novel Nonmechanical Finger Rehabilitation System Based on Magnetic Force Control

In-Chul Baek,Min Su Kim,Sung Hoon Kim 한국자기학회 2017 Journal of Magnetics Vol.22 No.1

This paper presents a new nonmechanical rehabilitation system driven by magnetic force. Typically, finger rehabilitation mechanisms are complex mechanical systems. The proposed method allows wireless operation, a simple configuration, and easy installation on the hand for active actuation by magnetic force. The system consists of a driving coil, driving magnets (M1), and auxiliary magnets (M2 and M3), respectively, at the finger, palm, and the center of coil. The magnets and the driving coil produce three magnetic forces for an active motions of the finger. During active actuations, magnetic attractive forces between M1 and M2 or between M1 and M3 enhance the flexion/extension motions. The proposed system simply improves the extension motion of the finger using a magnetic system. In this system, the maximum force and angular variation of the extension motion were 0.438 N and 49°, respectively. We analyzed the magnetic interaction in the system and verified finger’s active actuation.

제어신호 분할을 이용한 자기베어링 시스템의 제어

양주호(J. H. Yang),정황훈(H. H. Jeong),정광교(G. K. Choung) 한국동력기계공학회 2009 한국동력기계공학회 학술대회 논문집 Vol.2009 No.11

The magnetic bearing system is widely applied to the suspension of rotors on the rotary machineries at the special condition, because this system has many advantages such as less mechanical friction and heat generation, no noise, no lubrication and so on. The magnetic bearing system is inherently an unstable system, so this system needs the controller to stabilize the system. Many studies are devoted to the design of controllers that make the system stabilize and the analysis that finds the system's dynamic characteristics. This paper concern about the PID controller that stabilized the magnetic bearing system with control signal separating. Firstly, we already get the transfer function for the current amplifier's circuit form amp. input to current output and the magnetic baring system from reference input to levitated object's displacement. Secondly we will experiment on the magnetic bearing system that separate the control signal or not with the step response experiment and the step disturbance one. And we will compare the response experiments between the magnetic bearing system with control signal separating or not. Finally, we will confirm the system that separated control signal is better disturbance rejection and the reference tracking performance than the system didn't separated.

자기-자이로 유도 장치를 위한 MEMS형 자이로의 민감도 최적화

이인성,김재용,정은국,정경훈,김정민,김성신 한국로봇학회 2013 로봇학회 논문지 Vol.8 No.1

This paper presents a sensitivity optimization of a MEMS (microelectromechanical systems) gyroscope for a magnet-gyro system. The magnet-gyro system, which is a guidance system for a AGV (automatic or automated guided vehicle), uses a magnet positioning system and a yaw gyroscope. The magnet positioning system measures magnetism of a cylindrical magnet embedded on the floor, and AGV is guided by the motion direction angle calculated with the measured magnetism. If the magnet positioning system does not measure the magnetism, the AGV is guided by using angular velocity measured with the gyroscope. The gyroscope used for the magnet-gyro system is usually MEMS type. Because the MEMS gyroscope is made from the process technology in semiconductor device fabrication, it has small size, low-power and low price. However, the MEMS gyroscope has drift phenomenon caused by noise and calculation error. Precision ADC (analog to digital converter) and accurate sensitivity are needed to minimize the drift phenomenon. Therefore, this paper proposes the method of the sensitivity optimization of the MEMS gyroscope using DEAS (dynamic encoding algorithm for searches). For experiment, we used the AGV mounted with a laser navigation system which is able to measure accurate position of the AGV and compared result by the sensitivity value calculated by the proposed method with result by the sensitivity in specification of the MEMS gyroscope. In experimental results, we verified that the sensitivity value through the proposed method can calculate more accurate motion direction angle of the AGV.

마이크로터빈발전시스템 독립운전을 위한 동적 모델링

조재훈(Jea-Hoon Cho),홍원표(Won-Pyo Hong) 한국조명·전기설비학회 2009 조명·전기설비학회논문지 Vol.23 No.12

마이크로그리드는 전력시스템의 계획 및 실시간 운영에 있어서 매우 큰 영향을 미치며 중요한 역할을 할 것으로 판단된다. 따라서 본 연구에서는 빌딩의 마이크로그이드의 중요한 마이크로소오스인 마이크로터빈 발전시스템의 Matlab/Simulink 모델과 전압-주파수제어기를 개발하였다. 또한 부하에 독립적으로 전원을 공급하기 위한 전력시스템을 구성, 모의를 통하여 MTG시스템의 특성을 분석하였다. Distributed Generation (DG) is predicted to play a important role in electric power system in the near future. insertion of DG system into existing distribution network has great impact on real-time system operation and planning. It is widely accepted that micro turbine generation (MTG) systems are currently attracting lot of attention to meet customers need in the distributed power generation market. In order to investigate the performance of MT generation systems, their efficient modeling is required. This paper presents the modeling and simulation of a MT generation system suitable for stand-alone operation. The system comprises of a permanent magnet synchronous generator driven by a MT. A brief description of the overall system is given, and mathematical models for the MT and permanent magnet synchronous generator are presented. Also, the use of power electronics in conditioning the power output of the generating system is demonstrated. Simulation studies with MATLAB/Simulink have been carried out in stand-alone operation mode of a DG system.

자기부상 물류이송시스템 설계에 관한 연구

최대규(Dae-Gyu Choi),조재훈(Jae-Hoon Cho),김용태(Yong-Tae Kim) 한국지능시스템학회 2014 한국지능시스템학회논문지 Vol.24 No.2

본 논문에서는 이동할 때 마찰이 없고 소음이나 먼지가 발생하지 않는 자기부상 물류이송시스템의 설계 방법을 제안한다. 제안된 자기부상 이송시스템은 크게 부상시스템과 추진시스템으로 구분된다. 자기부상시스템은 레일로 전자석을 끌어당기는 흡인식 부상시스템으로 구현하였으며, PID 제어기를 사용하여 전자석 공급 전류를 제어하였다. 자기부상 이송시스템의 추진시스템에는 바퀴의 마찰과 모터의 회전이 없고 소음이 최소화 되는 선형 유도전동기를 사용하였다. 추진시스템의 제어방법은 입력되는 직류전압에서 큰 교류전압을 얻을 수 있는 공간벡터 펄스폭 변조방식을 적용하였다. 제안한 자기부상 물류이송시스템은 부상 및 추진 제어 실험을 통하여 성능을 검증하였다. In the paper, we propose a design method for the logistics transportation system using magnetic levitation that has a good characteristics without mechanical friction, noise and dust. The proposed transportation system consists of a levitation control system and a propulsion control system. Magnetic levitation system is an electromagnetic suspension system in which electromagnet generates magnetic attractive force and the attractive force pulls the rail. We design a PID controller for the current control of electromagnets. We use linear induction motors for propulsion of the proposed logistics transportation system and adapt the space vector PWM method for the propulsion control system. The proposed transportation system using magnetic levitation is verified performances through levitation and propulsion experiments.

PID 제어기를 이용한 자기베어링 시스템의 기초실험

양주호(Jooho Yang),정황훈(Hwanghun Jeong),윤소남(Sonam Yun) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5

The magnetic bearing system is widely applied to the suspension of rotors on the rotary machineries at the special condition, because this system has many advantages such as less mechanical friction and heat generation, no noise, no lubrication and so on. The magnetic bearing system is inherently an unstable system, so this system needs the controller to stabilize the system. Many studies are devoted to the design of controllers that make the system stabilize and the analysis that finds the systems dynamic characteristics. This paper concern about the PID controller that stabilized the magnetic bearing system with control signal separating. The magnetic bearing system is experimented by separated the control signal or not with the step response experiment and the step disturbance one. And we will compare the response of the experiment results. Finally, we will confirm the system that separated control signal is better disturbance rejection and the reference tracking performance than the system didnt separated.

Design and Development of Magnetic Position Sensor for Magnetic Guidance System of Automated Ground Vehicle

Young-jae Ryoo,Jang-hyun Park 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

In this paper, a magnetic position sensor for a magnetic guidance system of automated ground vehicles using linear sections of magnetic fields is proposed. In previous research, the ratio method using vertical versus lateral field was applied to the magnetic position sensor. A drawback of this method is that there is a singularity problem in calculating the ratio as the lateral component approached zero. In this paper, instead of the ratio calculation, the linear method using the equation between vertical magnetic field and the position of a marker is proposed. Due to the linear equation, the proposed method is very robust when noise and disturbance are added to the sensing signal. Since the linear equation is simple, the calculation is fast so that the proposed method is better to establish a real time system. The performance of the proposed method is tested by the experiment using the developed magnetic sensor.