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벤치마크 로봇의 동적 마찰 보상을 위한 적응 제어기 설계
김인혁(In-Hyuk Kim),조경훈(Kyoung-Hoon Cho),손영익(Young Ik Son),김필준(Pil-Jun Kim) 대한전자공학회 2014 전자공학회논문지 Vol.51 No.1
로봇 시스템에 작용하는 마찰력은 비선형 형태이며 특히 저속에서의 정밀 제어를 어렵게 만든다. 본 논문에서는 로봇 연구에서 자주 활용되고 있는 벤치마크 로봇 시스템의 단축 모델에 대한 동적 마찰 보상 문제를 다룬다. 마찰 모델은 동적 특성 및 다양한 효과를 나타낼 수 있도록 비선형 동적 모델인 LuGre 모델을 고려한다. 본 논문에서 제안하는 제어기는 두 부분으로 구성된다. 동적 마찰의 추정 및 보상을 위해 Dual 관측기 기반의 적응 제어기를 사용한다. 마찰 추정 오차 및 나머지 외란을 보상하기 위해 PI 관측기를 추가로 설계한다. 모의실험을 통해 비선형 동적 마찰이 벤치마크 로봇 시스템의 제어 성능에 미치는 영향을 확인하고 제안된 제어기를 사용함으로써 동적 마찰에 대한 제어 성능이 향상됨을 보인다. Friction force on robot systems is highly nonlinear and especially disturbs precise control of the robots at low speed. This paper deals with the dynamic friction compensation problem of a well-known one-link benchmark robot system. We consider the LuGre model because the model can successfully represent dynamic characteristics and various effects of friction phenomenon. The proposed controller is constructed as two parts. An adaptive controller based on dual observers is used to estimate and compensate the dynamic friction. In order to attenuate the friction estimation error and other disturbances, PI observer is additionally designed. Through the computer simulations with the benchmark system, this paper first examines the effects of nonlinear dynamic friction on the control performance of the benchmark robot system. Next, it is shown that the control performance against the dynamic friction is improved by using the proposed controller.
이충환 ( Chung Hwan Lee ),조경훈 ( Kyoung Hoon Cho ) 조선대학교 공학기술연구원 2015 공학기술논문지 Vol.8 No.1
A study on the new active circulation type oil-water separation system including the oil-water separation system of magnetic film was carried out. Separation system is composed of several active types of circulating oil separation steps and one magnetic film separation step at final stage. At the magnetic separation step, ferro-fluid easily forms a weak magnetic mixture with oil, which is from the water by magnetic field gradient. The vessel has been designed to run at the maximum speed of 25 knots. And two typical forms of the SWATH and Catamaran have been studied as a new type of oil recovery vessel.
이귀주 ( Kwi Joo Lee ),이충환 ( Chung Hwan Lee ),조경훈 ( Kyoung Hoon Cho ) 조선대학교 공학기술연구원 2015 공학기술논문지 Vol.8 No.2
Generally a ship in a port or canal is guided by tugboat(s), while the ship engine(s) and steering mechanism are idle. The shortcomings of this method are insufficient course keeping ability, danger of collision with waterside structures, time-consuming preparation for tugging, as well as the need to maintain tugboats. A new technology for ship guiding, based on the physical principle of interaction of a solid body with aerated liquids has been developed [1]. Model tests were carried out for the verification of system at slow speed by engine operating conditions with an idle steering. The developed device has been proved to keep the ship on course safely.