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이명석,정경모,공경철,Lee, Myoungseok,Jung, Kyungmo,Kong, Kyoungchul 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.7
DOB (Disturbance Observer) is an useful control method for estimating the disturbance applied to dynamic systems. Disturbance observer can be used to implement a robust control system to generate a control input for rejecting the disturbance, and it can be also used to estimate the disturbance to obtain information. The system that uses disturbance estimation is investigated for high performance control such as automatic door systems, walking robot and electric power steering system in vehicles. In this paper, a novel disturbance observer which is called disturbance and current observer for estimating load torque in the motor system is proposed. The difference between the DOB for disturbance rejection and DCOB is mathematically verified. Current and angular velocity are required for estimating the load torque of the motor in DOB. However, the DCOB can estimate load torque and current without current sensor. DCOB is designed based on modeling of the motor system. Appropriate Q-filter is selected and the applicability of DCOB is verified by simulation. The estimated disturbance and current of the electric motor can be verified without current sensor, as experiments of the actual motor system.
이명석(Myoungseok Lee),정경모(Kyungmo Jung),공경철(Kyoungchul Kong) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1
DOB (Disturbance Observer) is an useful control method for estimating the disturbance applied to dynamic systems. Disturbance observer can be used to implement a robust control system to generate a control input for rejecting the disturbance, and it can be also used to estimate the disturbance to obtain information. The system that uses disturbance estimation is investigated for high performance control such as automatic door systems, walking robot and electric power steering system in vehicles. In this paper, a novel disturbance observer which is called disturbance and current observer for estimating load torque in the motor system is proposed. The difference between the DOB for disturbance rejection and DCOB is mathematically verified. Current and angular velocity are required for estimating the load torque of the motor in DOB. However, the DCOB can estimate load torque and current without current sensor. DCOB is designed based on modeling of the motor system. Appropriate Q-filter is selected and the applicability of DCOB is verified by simulation. The estimated disturbance and current of the electric motor can be verified without current sensor, as experiments of the actual motor system.
신발 내 지면반력 측정을 위한 탄성체 기반의 유연 힘센서 설계
김강현(Kanghyun Kim),정평국(Pyeong-Gook Jung),정경모(Kyungmo Jung),공경철(Kyoungchul Kong) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
To directly measure the ground reaction forces (GRFs) acting on the foot, force sensors are often placed on an insole. For this purpose, the force sensors should provide both precise measurement and flexibility for the minimal discomfort. In this paper, design of an elastomer-based force sensor is proposed for the minimal hysteresis and improved precision. The sensing mechanism based on the internal pressure change of an air passage in the elastic structure. The elastomer of the sensor is designed considering several practical requirements; to minimize the hysteresis phenomena of the sensor, three materials, which are normal, room temperature vulcanization (RTV) silicone rubbers, are considered and tested. Through multiple iterations of fabrication, RTV silicone rubber, which has the least hysteresis, is chosen for elastomer of the sensor. Least-square curve fitting based on experiments is performed to compensate for the nonlinear behavior of the sensor. Basic sensor properties including operation range, repeatability and resolution are assessed through the verification experiment.
김유석(Yooseok Kim),최현진(Hyunjin Choi),정경모(Kyungmo Jung),공경철(Kyoungchul Kong) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
The distribution of ground reaction forces (GRFs) is important information for the precise diagnosis of diseases and the calculation of gait-related kinetic quantities, such as the center of pressure, abnormalities, and so on. However, many insole-type mobile GRF sensing systems measure only discrete GRFs because of a limited number of sensors. In this paper, a kernel density function is proposed to estimate the force distribution of the foot from measurement with the limited number of sensors. For precise verification, the foot pressure during walking is measured by force plates mounted on a laboratory floor and by four pressure sensors embedded in an insole. The sensor measurements themselves cannot represent the total foot pressure compared to the force plate due to the limited sensing area; however, with the proposed method, the pressure of the unmeasurable area of the insole can be estimated. The parameters of kernel density function are derived based on the anatomic information of the human foot. The experimental result shows that the foot pressure of unmeasurable area is successfully estimated by the proposed method, and the insole system can measure the total foot pressure even with a limited number of sensors.