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Design of H∞ Control System for Tandem Cold Mills
Hyuk Um(엄혁),Seung-Soo Kim(김승수),Soon-Yong Yang(양순용),Jin-Gul Lee(이진걸) 한국생산제조학회 2004 한국생산제조학회지 Vol.13 No.4
In order to meet the requirement for higher thickness accuracy in tandem cold rolling processes, it is strongly necessary to have good performance in control units. To meet this requirement, this paper suggested an output regulating control system with a roll-eccentricity estimator for each rolling stand of tandem cold mills. Considering entry thickness variation and roll eccentricity simultaneously as the major disturbances, a synthesis of multivariable control systems was presented based on H∞ control theory, which could reflect the knowledge of input direction and spectrum of disturbance signals on design. Then, to effectively reject roll eccentricity, a weight function having some poles on the imaginary axis was introduced. This lead to a non-standard H∞ control problem, and the design procedures for solving this problem were analytically presented. The effectiveness of the proposed control method was evaluated through computer simulations and compared to that of the conventional linear quardratic control and feedforward control methods for roll eccentricity.
엄혁(Hyuk Um),최종환(Jong-Hwan Choi),김승수(Seung-Soo Kim),한현용(Hyun-Yong Han),양순용(Soon-Yong Yang),이진걸(Jin-Gul Lee) 한국생산제조학회 2005 한국생산제조학회지 Vol.14 No.4
This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange’s equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.
엄혁,최종환,김승수,양순용,이진걸 한국공작기계학회 2004 한국생산제조학회지 Vol.13 No.4
In this paper, the dynamic stability of a hydraulic excavator using ZMP concept is considered. When a load is moved in an excavator based on automation, an excavator often loses the stability and falls over. This is because a dynamic element is not included in the moment equilibrium equation that is used in order to judge a reversal. Consequently, reversal distinction algorithm including all a static and a dynamic element along a load movement in crane work is necessary. Zero Moment Point(ZMP) is a point on the floor where the resultant moment of the gravity, the inertial force of the manipulator and the external force is zero. This study is going to interpret the reversal stability of the excavator to which is applied ZMP concept through simulation.
Design of H∞ Control System for Tandem Cold Mills
Um, Hyuk,Kim, Seung-Soo,Yang, Soon-Yong,Lee, Jin-Gul 한국공작기계학회 2004 한국생산제조학회지 Vol.13 No.4
In order to meet the requirement for higher thickness accuracy in tandem cold rolling processes, it is strongly necessary to have good performance in control units. To meet this requirement, this paper suggested an output regulating control system with a roll-eccentricity estimator for each rolling stand of tandem cold mills. Considering entry thickness variation and roll eccentricity simultaneously as the major disturbances, a synthesis of multivariable control systems was presented based on H∞ control theory, which could reflect the knowledge of input direction and spectrum of disturbance signals on design. Then, to effectively reject roll eccentricity, a weight function having some poles on the imaginary axis was introduced. This lead to a non-standard H∞ control problem, and the design procedures for solving this problem were analytically presented. The effectiveness of the proposed control method was evaluated through computer simulations and compared to that of the conventional linear quardratic control and feedforward control methods for roll eccentricity.