Go to the main menu
Skip to content
Go to bottom
REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
> Journal Vol & Issue
Journal of Institute of Control, Robotics and Systems
Journal Basic Information
Journal DOI :
Institute of Control, Robotics and Systems
Editor in Chief :
Volume & Issues
Volume 6, Issue 12 - Dec 2000
Volume 6, Issue 11 - Nov 2000
Volume 6, Issue 10 - Oct 2000
Volume 6, Issue 9 - Sep 2000
Volume 6, Issue 8 - Aug 2000
Volume 6, Issue 7 - Jul 2000
Volume 6, Issue 6 - Jun 2000
Volume 6, Issue 5 - May 2000
Volume 6, Issue 4 - Apr 2000
Volume 6, Issue 3 - Mar 2000
Volume 6, Issue 2 - Feb 2000
Volume 6, Issue 1 - Jan 2000
Selecting the target year
A Robust Eigenstructure Assignment Method with Application to EMRAAT Missile Control Design
Kim, Joo-Ho ; Park, Jae-Weon ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 845~853
In this paper, we introduce a relationship between the sensitivity and the robustness of a system, and we propose a robust eigenstructure assignment scheme using a novel performance index which can consider the performance and the robustness of the system simultaneously. We also propose an assignment accuracy measure and a robustness measure which are used for the performance examination of the proposed robust eigenstructure assignment scheme. The usefulness of the proposed algorithm and the measures are verified by applying to controller design of a simple numerical example and the EMRAAT missile.
A Survey on Eigenstructure Assignment
Park, Jae-Weon ; Seo, Young-Bong ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 854~870
This survey paper presents and overview on eigenstructure assignment (EA) control design methodologies. EA is an excellent control design method which may be used to assign the entire eigenstructure(eigenvalues, and right or left eigenvectors) of a closed-loop linear system via a full state or an output feedback control law. In general, EA is well-sutied for incorporating classical specifications on damping, settling time, and mode or disturbance decoupling into a modern multivariable control framework. The purpose of this paper is to provide an extensive survey on EA control design methods that might serve as an introduction to a study on EA. The fundamental concepts and formulations for understanding EA problems are extensively described. The recently reported results on EA are also presented.
Modeling and Robust Synchronizing Motion Control of Twin-Servo System Using Network Representation
Kim, Bong-Keun ; Park, Hyun-Taek ; Chung, Wan-Kyun ; Suh, Il-Hong ; Song, Joong-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 871~880
A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.
Track-Following Control of a Hard Disk Drive Actuator Using Nonlinear Robust Deterministic Control
Wie, Byung-Yeol ; Kang, Chul-Goo ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 881~887
There are significant nonlinearities and uncertainties in hard disk drive actuators. In particular, pivot bearing nonlinearity and repeatable run-out make track-following control difficult as track density increases. In this paper, we design a robust track-following controller using a robust deterministic control scheme in which the pivot bearing nonlinearity and repeatable run-out are considered as uncertainties. Simulation study is conducted to evaluate the control performance of the proposed control scheme.
The Development of Automatic Design Software for DC Motor Servo Controller
Huh, Kyung-Moo ; Lee, Eun-O ; Cho, Young-June ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 888~893
This paper deals with the development of an automatic design software for DC servo motor control, which provides good performance with rapid response and velocity control accuracy. In the proposed method, the design is automatically executed using Matlab, and iterative learning control algorithms are used in the design process. We applied this method to 50W, 100W, 200W, 300W, 500W, 750W, 1.8kW and 4.5kW DC servo motors which are widely used in the industry. We compare the results of the manual tuning design method with that of the automatic design method presented in this paper. From the experimental results, we can find that the performance of the proposed method is better than that of the manual tuning design method.
Force Reflection Control with a Speed Saturation Compensation Scheme for Telemanipulators
Ahn, Sung-Ho ; Yoon, Ji-Sup ; Lee, Sang-Jeong ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 894~902
This paper proposes a force reflection control method with a speed saturation compensation scheme for the slave manipulators having a speed saturation due to the high reduction ratio joints. When speed saturation is generated, the proposed force reflection control method not only shows an anti-windup feature in controlling the slave manipulator but also makes the master manipulator move slowly using the force reflection caused by saturation. In this way, the position of the slave manipulator tracks the reference position regardless of speed saturation. The experimental results show that the proposed control method provides excellent performance.
Implementation of a Fieldbus System Based on Profibus-DP Protocol
Bae, Gyu-Sung ; Kim, Jong-Bae ; Park, Byoung-Wook ; Lim, Kye-Young ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 903~910
In this paper, we describe a slave chip based on the Profibus-DP protocol and a system board to verify the developed slave chip. The Profibus-DP protocol is designed using VHDL and implemented on FPGA. The system board adopting the developed FPGA is designed FPGA is designed in which the firmware is implemented on Intel 8051 by using C language. Among the Profibus-DP protocols, low level layers from the physical layer to the data link layer is implemented in the form of hardware that we are able to greatly reduce the CPU load in processing protocols, and then higher layers could be processed by software. These technologies result in an IP to make terminal devices in the distributed control systems. Therefore, many digital logics as well as communication logics can be implemented onto SOC(System On a Chip) and it could be applied to various fieldbus-related areas.
Implementation of Profibus-FMS Network for Real-Time Closed-Loop Control System
Lee, Kyung-Chang ; Kim, Keewoong ; Kim, Hee-Hyun ; Lee, Suk ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 911~917
As many sensors and actuators are used in various automated systems, the application of network to real-time distributed control system is gaining acceptance in many industries. In order to take advantages of networking, however, the network should be carefully designed to satisfy real-time distributed control. This paper presents an implementation method of closed-loop control using Profibus-FMS. In order to implement a closed-loop control system, we used industrial computers with Profibus-FMS network cards and a DC servo motor. Through various experiments, the step response of the control system with network was compared with the reference response without network.
Performance of a Home Made Control Valve for Lab Use
Ham, Tae-Won ; Kim, Yeong-Han ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 918~922
A lab-use home made control valve was made of easily obtainable materials and its performance was examined through a fluid flow experiment. By modifying the hole of a commercial valve a linearly adjustable valve for the flow control is made. The detail of valve assembling and modification is explained for the researchers who intend to employ a similar control valve.
Comparisons of Position Error Characteristics and DOP Between TOA and TDOA Technique
Shin, Dong-Ho ; Sung, Tae-Kyung ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 923~927
This paper presents a relationship between DOP for TOA and TDOA is defined using the error covariance matrix of TDOA. It is analytically shown that the error ellipsoid of TOA is as same as that of TDOA in magnitude and in orientation, which means that DOP for TOA is identical to the DOP for TDOA. By computer simulation, the positioning performance of two methods is compared, and we verify our assertion.
An Implementation of a Decoupled GPS/DR Integration Kalman Filter
Seo, Hung-Seok ; Sung, Tae-Kyung ; Lee, Sang-Jeong ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 928~935
In order to improve the performance of a GPS/DR integration system, the error sources of DR sensors should be modeled accurately, This results in the increases in the dimension of the integration filter and, consequently, computational load becomes large. To reduce the computational load, suggested in this paper is a decoupled GPS/DR integration scheme that consists of two cascaded Kalman filters. The GPS velocity output is used in the first filter to calibrate the DR sensor and to fix the velocity as well. The velocity from the first filter is fed to the second filter where the position is corrected using the GPS position output. Experimental results show that the proposed integration scheme has positioning performance comparable to the conventional coupled one, while its computation is reduced to about 2/3.
Aeroassisted Orbital Maneuvering in a Worst-Case Atmosphere
Lee, Byoungsoo ;
Journal of Institute of Control, Robotics and Systems, volume 6, issue 10, 2000, Pages 936~941
Advanced space transportation systems, such as the National Aerospace Plane or an Orbital Transfer Vehicle, have atmospheric maneuvering capabilities. For such vehicles the use of aeroassisted orbital transfer from a high Earth orbit to a low Earth orbit, with unpowered flight in the atmosphere, has the potential for significant fuel savings compared to exoatmospheric Hohmann transfer. However, to exploit the fuel savings that can be achieved by using the Earths atmosphere to reduce the vehicles energy, a guidance law is required, and it must be able to handle large unpredictable fluctuations in atmospheric density, on the order of
50% relative to the 1962 US Standard Atmosphere. In this paper aeroassisted orbital transfer is considered as a differential game, with Nature controlling the atmosphere density to yield a worst case (min-max fuel required) atmosphere, from which the guaranteed playable set boundary are achieved. Inside the playable set, it is guaranteed that the vehicle achieves the optimal atmospheric exit condition for the minimum fuel consumption regardless of the atmospheric density variations.