• Title, Summary, Keyword: Loop Wheel

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Real Time Balancing Control of 2 Wheel Robot Using a Predictive Controller (예측 제어기를 이용한 2바퀴 로봇의 실시간 균형제어)

  • Kang, Jin-Gu
    • Journal of the Korea Society of Computer and Information
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    • v.19 no.3
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    • pp.11-16
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    • 2014
  • In this paper, the two-wheels robot using a predictive controller to maintain the balance of the posture control in real time have been examined. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. The objective of this research was to design and implement a self-balancing algorithm using the dsPIC30F4013 embedded processor. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this study, the disturbance of the posture for the asymmetrical propose to overcome the predictive controller which was a problem in the control of a remote system by introducing the two wheels of the robot controller and the linear prediction of the system controller combines the simulation was performed. Also, the robust characteristic for realizing the goal of designing a loop filter too robust controller is designed so that satisfactory stability of the control system to improve stability of the system to minimize degradation of performance was confirmed.

DYNAMIC MODELING AND REACTION WHEEL CONTROLLER DESIGN FOR FLEXIBLE SATELLITE AOCS (유연모드를 가진 인공위성의 자세제어를 위한 동역학 모델링 및 반작용휠 제어기 설계)

  • 우병삼;채장수
    • Journal of Astronomy and Space Sciences
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    • v.14 no.2
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    • pp.386-394
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    • 1997
  • In this study, a few of the modeling methods for flexible spacecraft were introduced and adopted to the modeling of a 3-axes stabilization satellite. The generated model was put into pre-built rigid body attitude control loop. A Lumped Parameter Model(Global Mode Model: GMM) was recommended for the absence of the Finite Element Method(FEM) model. Finally, GMM was compared with FEM in terms of designing a control filter. A 1st-order filter was designed to meet requirements of the controller since the new flexible model was applied, and that filter was added to motor controller and axis controller. MATLAB/Simulink was used as a tool for design and simulation of the control loop and filter.

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Development of engine control based TCS slip control algorithm using engine map (엔진맵에 기초한 엔진제어 TCS 슬립제어 알고리듬의 개발)

  • Song, Jae-Bok;Kim, Byeong-Cheol
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.22 no.2
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    • pp.428-436
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    • 1998
  • A TCS slip control system improves acceleration capability and steerability on slippery roads through engine torgue and/or brake torque control. This research mainly deals with the engine control algorithm via the adjustment of the engine throttle angle. The following new control strategy is proposed and investigated ; the TCS slip controller whose input is the difference between the desired driving wheel speed corresponding to the optimum slip ratio and the actual speed yields the target engine torque and then estimates the throttle angle based on the engine performance curve. Various simulation and hardware-in-the-loop simulation have been carried out. The results show the proposed strategy may compensate for the inherent nonlinearity between variation of the throttle angle and variation of the engine torque and produce better performance than the previous strategies without the engine map, especially in the high speed region.

Fault Tolerant Attitude Control for a Spacecraft Using Reaction Wheels (반작용 휠을 사용하는 인공위성의 내고장 자세제어기법)

  • Jin, Jae-Hyun;Lee, Hun-Gu;Tahk, Min-Jea
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.35 no.6
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    • pp.526-532
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    • 2007
  • This paper considers a fault tolerant control problem for a spacecraft using reaction wheels. Faults are assumed to be inherent to only actuators(reaction wheels) and a control algorithm to accommodate actuators' faults is proposed. An attitude control loop includes an angular velocity control loop. The time delay control method is used to make a spacecraft follow the command angular velocity and to accommodate actuators' faults. A stability condition for the proposed algorithm is derived and the performance is demonstrated by computer simulations.

A Study on a Test Platform for AWS (All-Wheel-Steering) ECU (Electronic Control Unit) of the Bi-modal Tram (저상굴절버스 조향시스템 전자제어장치의 테스트플랫폼 구축에 관한 연구)

  • Lee, Soo-Ho;Moon, Kyeong-Ho;Park, Tae-Won;Kim, Ki-Jung;Choi, Sung-Hun;Kim, Young-Mo
    • Proceedings of the KSR Conference
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    • pp.1051-1059
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    • 2008
  • In the development process of an ECU (Electrical Control Unit), numerous tests are necessary to evaluate the performance and control algorithm. The vehicle based test is expensive and requires long time. Also, it is difficult to guarantee the safety of the test driver. To overcome the various problems faced in the development process, the ECU test has been done using HIL (Hardware In the Loop). The HIL environment has the actual hardware including an ECU and a virtual vehicle model. In this paper, the test platform environment is devloped for the AWS ECU black box test. The test platform is built on HIL (Hardware In the Loop) architecture. Using the developed test platform, the control algorithm of the AWS ECU can be evaluated under the virtual driving condition of the bi-modal tram. Driving conditions, such as a front steering angle and vehicle velocity, are defined through the PC (Personal Computer) input. Input signals are transformed to electrical signals in the PC. These signals become the input conditions of the AWS ECU. The AWS ECU is stimulated by arbitory input conditons, and responses of the system are observed.

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Virtual Reality Game Modeling for a Haptic Jacket

  • Bae, Hee-Jung;Jang, Byung-Tae
    • 제어로봇시스템학회:학술대회논문집
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    • pp.882-885
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    • 2003
  • In this paper, we describe a haptic jacket and wheel as a haptic interface to enhance VR game realism. Building upon the VR game system using this devices, our haptic interface technique allows the user to intuitive interact on game contents, and then to sense the game event properties such as walking, attacking, driving and fire in a natural way. In addition, we extended the initial haptic model to support haptic decoration and dynamic interactions due to the added game event in a real time display. An application example presented here is a VR Dino-Attack game. This game supports interactions among dynamic and our intuitive haptic interface. Modeling physic interactions involves precise collision detection, real-time force computation, and high control-loop bandwidth.

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Development of Dynamic Modeling and Control Algorithm for Lateral Vibration HILS of Railway Vehicle (철도 차량 횡진동 HILS 를 위한 동적 모델링 및 제어 알고리즘 개발)

  • Lee, Jae-Ha;Kwak, Moon-K.;Yang, Dong-Ho;You, Won-Hee
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • pp.713-719
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    • 2012
  • This paper is concerned with the dynamic modeling for the hardware-in-the-loop simulation of lateral vibrations of a railway vehicle. The resulting dynamic model is a nine degree-of-freedom model which can describe the lateral, roll and yaw motions of the car body and two bogies. It is assumed that the external disturbances come from wheel motions. In order to test the efficacy of the model, the linear quadratic regulator and the sky-hook control algorithm were designed and applied to the model. The simulation results show that both control algorithms are effective in suppressing the vibrations of railway vehicles.

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Vibration Control of Flexible SCARA Robots (유연한 수평 다관절 로봇의 진동제어)

  • 임승철;용대중
    • Journal of KSNVE
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    • v.7 no.3
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    • pp.387-392
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    • 1997
  • This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.

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Developments and Test of Brake-By-Wire System for Aircraft (항공기용 Brake-By-Wire System 개발 및 시험)

  • Jeon, Jeong-Woo;Woo, Gui-Aee;Lee, Ki-Chang;Hwang, Don-Ha;Kim, Yong-Joo
    • Proceedings of the KIEE Conference
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    • pp.2155-2157
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    • 2004
  • 본 논문은 항공기용 Brake-By-Wire System 개발을 위한 설계 및 제작 그리고 시험에 관한 내용을 다루고 있다. 개발된 디지털제어기(Digital Control Unit)는 기본적인 제동기능 외에 Anti-skid 기능, Locked Wheel Protection 기능, Touchdown Protection 기능 등을 수행할 수 있다. 기능의 수행검중을 위해 실시간 HILS (Hardware In the Loop Simulation) 시험 및 Dynamometer 시험을 실시하여, 개발된 Brake-By-Wire System의 기능 및 성능을 확인하였다.

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Internet Teleopeation of an Embedded System using Streaming Buffer System (스트리밍 버퍼를 이용한 임베디드 시스템의 인터넷 원격제어)

  • 신완재;박장현
    • Journal of the Korean Society for Precision Engineering
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    • v.21 no.9
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    • pp.56-62
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    • 2004
  • Recently, necessity and usage of the teleoperation have been increased in various fields from industrial automation to home application. Also, the internet is considered as a strong candidate far the transmission media of signals. However, it has an irregular transmission time delay and causes critical problems such as instability and poor performance. This paper presents a practical internet teleoperation system with a streaming buffer system which makes a variable time delay fixed. Validity of the proposed system is demonstrated by implementing the embedded system on a HILS(hardware in the loop system) which models a two-wheel mobile robot.