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포/포탑 구동 시스템의 절대 각 오차 제어 모드에 대한모션 프로파일 생성 기법
엄명환,송신우,박일우 한국군사과학기술학회 2019 한국군사과학기술학회지 Vol.22 No.5
In this paper, we will discuss the absolute angular error control mode for the Gun/Turret driving system. TheGun/Turret driving controller receives absolute angular error calculated from the fire control system (FCS). Thus,the Gun/Turret driving controller is subjected to step command to cause residual vibration and system unstable. Inorder to reduce residual vibration and to ensure the system stability, we propose an error motion profile methodwith two types of trapezoidal and S-Curve. The validity of the proposed error motion profile method is confirmedvia simulation by observing that the resulting position error, driving power, and power density satisfied the controlperformance.
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스위칭 PD제어를 이용한 2-링크 로봇의 동적보행 제어
엄명환(Myung-Hwan Eom),김철중(Cheol-Joong Kim),좌동경(Dongkyoung Chwa),홍석교(Suk-Kyo Hong) 대한전기학회 2010 정보 및 제어 심포지엄 논문집 Vol.2010 No.10
본 논문은 2-링크 로봇의 동적 보행 제어에 대하여 다루고 있다. 기존의 보행로봇은 로봇의 모든 관절마다 구동기를 포함하는 시스템으로 에너지 측면에서 볼 때 많은 에너지를 필요로 한다. 이러한 단점을 해결하기 위해 구동기 부족 시스템인 2-링크 로봇에 대해 PD제어기를 이용한 보행 알고리즘을 제안한다. 실제 제작한 2-링크로봇 실험을 통해 제안한 제어기와 스위칭 기법의 타당성을 검증한다.
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엄명환(MyungWhan Eom),김철중(Cheol-Joong Kim),좌동경(Dongkyoung Chwa) 대한전기학회 2011 전기학회논문지 Vol.60 No.4
This paper proposes a method to reduce the limit cycle phenomenon that appears in the steady-state response of a pendubot system, when it is controlled by a state feedback controller based on the linearized system model. For this, we employed the compensator which estimates the friction based on the LuGre model in the LQR control. The proposed compensation method is validated by experiments for a pendubot system, which shows that the external disturbance as well can be efficiently compensated.
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포/포탑 구동 시스템의 퍼지 논리 제어에 기반한 최대 출력 토크 제어
박일우,엄명환,박승규 제어·로봇·시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.9
This paper proposes a method of designing a torque output controller that optimally utilizes the torque of an electric motor to drive a large load by applying a fuzzy logic controller. The motor speed controller has a torque limiter at the output stage, which is generally applied as a constant value. These torque limits should take into account the torque performance of the motor and the power characteristics of the drive, but in both cases it is difficult to satisfy the characteristics of a large traction load. The proposed torque output controller based on fuzzy logic can optimally use the power of the power supply and fully utilize the torque performance of the motor. In order to determine the fuzzy set and membership function, the load driving characteristics under various conditions were analyzed for the amount of torque according to the angular speed and simulations and experiment were performed to verify the performance of the proposed fuzzy logic controller. .
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Sum of Squares-Based Range Estimation of an Object Using a Single Camera via Scale Factor
김원희,김철중,엄명환,좌동경 대한전기학회 2017 Journal of Electrical Engineering & Technology Vol.12 No.6
This paper proposes a scale factor based range estimation method using a sum of squares (SOS) method. Many previous studies measured distance by using a camera, which usually required two cameras and a long computation time for image processing. To overcome these disadvantages, we propose a range estimation method for an object using a single moving camera. A SOS-based Luenberger observer is proposed to estimate the range on the basis of the Euclidean geometry of the object. By using a scale factor, the proposed method can realize a faster operation speed compared with the previous methods. The validity of the proposed method is verified through simulation results.
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SOS 제어기와 HOSM 추정기를 이용한 천정형 크레인의 외란 보상 제어
권동우(Dongwoo Kwon),엄명환(Myunghwan Eom),좌동경(Dongkyoung Chwa) 대한전자공학회 2015 대한전자공학회 학술대회 Vol.2015 No.6
This paper proposes SOS (Sum of Squares) method to anti-swing control of overhead crane system. The dynamic equations of overhead crane contain nonlinear terms are represented as polynomials by using Taylor series expansion. The control input is obtained from converted dynamic equations by numerical tool called as SOSTOOL. Also, we propose a method to compensate the disturbance using HOSM (High-Order Sliding-Modes) observer. Numerical simulations show the effectiveness and the applicability of the proposed method.
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