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Span內 集中質量을 갖는 彈性 Arm 先端의 位置制御를 위한 逆動力學的 解析
房斗烈,李聖哲 全北大學校 1995 論文集 Vol.39 No.-
A theoretical calculation is presented for the desired motor voltage driving a flexible arm with a concentrated mass within the span by inverse dynamics. We considered the problem that the tip position of the arm is controlled by the dc servomotor located at the shoulder, which is driven by the voltage obtained by inverse dynamics. As an example, we obtain the motor voltage to shift the end-point of arm from initial position to the desired position by the amount of w_d. Simulation results are obtained by applying the method of the Laplace transform of numerical inversion. Theoretical results which are obtained by inverse dynamics show that there exist fluctuation when acceleration of desired tip trajectory is changed suddenly, and motor voltage shape resembls acceleration curve.
1-링크 탄성 암 선단의 위치제어를 위한 역동력학적 해법
방두열,이영춘,이성철 전북대학교 공업기술연구소 2000 工學硏究 Vol.31 No.-
The input function evaluation was studied in the end-point position control of one-link flexible arm by inverse dynamics. Especially, we chose three input functions as tip path and made an evaluation about tip position control. The three input function was so called "Bang-Bang function", "Gauss function". and "Cosine function". Experimental results were investigated to compare the performance of three input functions. The "Cosine function" proposed by the authors was the most effective path in comparison with others with respect to lowest magnitude of voltage and smallest steady-state error. Keywords : Inverse Dynamics, Flexible Arm, Bang-Bang Function, Gauss Function, DC servo motor
PWM 전류제어와 펠티어 소자를 이용한 알루미늄 판의 온도 제어
방두열(Du-Yeol Pang),권대규(Tae-Kyu Kwon),이성철(Seong-Cheol Lee) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
This paper presents temperature control of aluminum plate using Peltier module. As one of the thermoelectric effect, Peltier effect is heat pumping phenomena by electric energy. So if current is charged to Peltier module, it absorbs heat from low temperature side and emits heat to high temperature side. In this experiment, Peltier module is used to control the temperature of small aluminum plate with heating and cooling ability of Peltier module with current control and fan ON/OFF control. And current control of Peltier module was accomplished by PWM method. As a results of experiments, it takes about 125sec to control temperature of aluminium plate between 30℃ and 70℃ and about 70sec between 40℃ and 60℃, in ambient temperature 29℃ while operating cooling fan only while cooling duration. Future aim is to realize more rapid temperature control and develop SMHA(special metal hydride actuator) by using Peltier module as a heating and cooling source.
MATLAB/Simulink를 이용한 컬럼형 전동조향장치(EPS)의 토크제어 시뮬레이션
방두열(Du-Yeol Pang),이성철(Seong-Cheol Lee),장봉춘(Bong-Chun Jang) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
As a development of technology, electric power steering system which uses an electric motor came to use in recent and it can solve the problems with hydraulic power steering system. In this paper, vehicle model and electric power steering system are combined to fulfill full vehicle model. By simulation effect of motor torque assist through electric power steering revealed effective, and full vehicle model are proved reasonable through comparison with real car experimental datum.
수정 템플릿 정합법을 이용한 비언어 의사표현의 비젼 인식
노덕수,방두열,유기호,이성철 전북대학교 공업기술연구소 1998 工學硏究 Vol.29 No.-
In this paper the intent recognition system which recognizes the human's head motion as a simple non-linguistic intent representation is presented. The system recognizes four basic intent representations, such as strong/weak affirmation and strong/weak negation by image processing of nodding or shaking motion of human's head. The vision system for tracking the head motion is composed of CCD camera image processing board and personal computer The modified template matching method which replaces the reference image with the searched target image in the previous step is used for the robust tracking of the head motion. For the improvement of the processing speed, the searching is performed in the reduced regions based on the pyramid structure. By inspecting the variance of the head motion trajectories, we can recognizes the two basic intent representations - affirmation and negation. Also, by focusing the speed of the head motion, we can see the strength of the intent representation.