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윤호성,이건복 崇實大學校 生産技術硏究所 1992 論文集 Vol.22 No.-
The inverted pendulum problem, which keeps the pendulum in the upright position, is a typical problem of unstable systems and has been studied by many researchers. In this work a digital controller is designed not only to stabilize the pendulum in the upright position but also to control the cart location at a given point. Controller design is based on a linear quadratic(LQ) optimal control theory. The controller is designed to achieve good performance characteristics regardless of uncertainties due to modeling errors and disturbance using frequency response shaping of overall system. The system is proved to work properly through simulation and experimentation.
공작기계의 선형경로에 대한 오차모델을 이용한 제어기 설계
길형균,이건복 한국공작기계학회 2004 한국공작기계학회 춘계학술대회논문집 Vol.2004 No.-
The work presented here deals with controller desgn using error model constructed with proportional control ramp response. The design aims at the improvement of transient response, steady-state error reduction with stability presrvation, generation of the consistent contour error through the proportional gain regulation of a mismatched system. The first step is to generate tracking-error curve with proportional control only and decide the added error signal shape on the error curve. The next is to construct a table for the steady-state loop gain with step input. The table is used for selecting the proportional gain. The effectiveness of the proposed controller is confirmed through the simulation and experiment.
PUMA형 로봇 머니퓰레이터의 강인한 위치/힘 혼합제어
박재욱,이건복 崇實大學校 生産技術硏究所 1995 論文集 Vol.25 No.2
In general, the control of robot manipulator is classified into position control and force control. Position controllers give adequate performance when a manipulator is following a trajectory through space and end-effector has no contact with environment. However for most tasks performed by robot manipulator in industry, contact is made between the end-effector and manipulator's environment, so position control may not suffice. The objective of this study is to control both position of a manipulator and the contact forces generated at the hand by using a conceptually simple control law. Position and force control problem is decoupled into subtasks via taskspace formulation and inverse dynamics. Then, the position controllers are designed for the task space variables which represent tangent motion and the force controllers are designed for the task space variables which represent normal force.
엔드밀 공정에서의 신호처리에 따른 제어모델에 관한 연구
양우석,이건복 한국공작기계학회 2001 한국공작기계학회 춘계학술대회논문집 Vol.2001 No.-
This work describes the modeling of cutting process for feedback control based on signal processing in end-milling. Here, cutting force is used to design control model by a variety of schemes which are moving average, ensemble average, peak value, root mean square and analog low-pass filtering. It is expected that each model offers its own peculiar advantage in following cutting force control.
김홍겸,이건복 한국공작기계학회 2001 한국공작기계학회 춘계학술대회논문집 Vol.2001 No.-
Generally, main factors of tool damage are cutting speed, feed rate and depth of cut. The increase of those factors can cause tool breakage or worsen product quality such as machining accuracy deterioration. Those three factors are concerned with cutting force. Cutting force reaches at its maximum value when cutter blade cuts away the object directly, and it is the time when tool damages are at high probability. In this study, we detect the maximum cutting force affecting tool damage and control the maximum cutting force based on the measured peak force.
최장욱,이건복 崇實大學校 生産技術硏究所 1996 論文集 Vol.26 No.2
In recent years, robots have been used widely in industrial field and have been expanded as a result of continuous research and development for high-speed and miniaturization. In general, position control of robot manipulators is performed in joint or cartesian coordinates. The objective of this study is to solve the inverse kinematics with a geometric approach, control a position of a manipulator by using the inverse kinematics and the computed torque control, compare the computed torque control with the proportional ad derivative(PD) control for the straight line and circular trajectories and compute an effective moment of inertia for the gain selection. The amount of error was reduced more when using the computed torque control than when using the PD control.
LQG/LTR 설계 방법을 이용한 자기 부상 시스템 제어에 대한 연구
조택선,이건복 崇實大學校 生産技術硏究所 1992 論文集 Vol.22 No.-
In this work, a theoretical model for the study of nonlinear dynamics of a electro-magnetic levitated system is presented. The system can be described by a set of three first order nonlinear ordinary differential equations. After linearizing the system around an equilibrium point, open-loop instability is confirmed and the, feedback system is designed using the linear quadratic gaussian with loop transfer recovery(LQG /LTR) design methodology so as to meet design specification in the frequency domain. Computer simulations are carried out and the results show that LQG/LTR design recovers considerable stability-robustness.
Robust output feedback control of LTI system using estimated output derivatives
Lee, Gun-Bok The Korean Institute of Electrical Engineers 1996 전기학회논문지 Vol.45 No.2
This work is conceded with the estimation of output derivatives and their use for the design of robust controller for linear systems with system uncertainties due to modeling errors and disturbances. It is assumed that a nominal transfer function model and quantitative bounds for system uncertainties and known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted through restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Control)type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.
Gun Joon Lee,Bok Kung Han,Hyuk Joon Choi,Shin Ho Kang,Seung Chun Baick,Dong Un Lee 한국축산식품학회 2015 한국축산식품학회지 Vol.35 No.6
We investigated the effects of a pulsed electric field (PEF) treatment on microbial inactivation and the physical properties of low-fat milk. Milk inoculated with Escherichia coli, Saccharomyces cerevisiae, or Lactobacillus brevis was supplied to a pilot-scale PEF treatment system at a flow rate of 30 L/h. Pulses with an electric field strength of 10 kV/cm and a pulse width of 30 μs were applied to the milk with total pulse energies of 50-250 kJ/L achieved by varying the pulse frequency. The inactivation curves of the test microorganisms were biphasic with an initial lag phase (or shoulder) followed by a phase of rapid inactivation. PEF treatments with a total pulse energy of 200 kJ/L resulted in a 4.5-log reduction in E. coli, a 4.4-log reduction in L. brevis, and a 6.0-log reduction in S. cerevisiae. Total pulse energies of 200 and 250 kJ/L resulted in greater than 5-log reductions in microbial counts in stored PEF-treated milk, and the growth of surviving microorganisms was slow during storage for 15 d at 4°C. PEF treatment did not change milk physical properties such as pH, color, or particle-size distribution (p<0.05). These results indicate that a relatively low electric-field strength of 10 kV/cm can be used to pasteurize low-fat milk.