• Journal of Electrical Engineering and Technology
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• 제13권2호
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• pp.1008-1020
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• 2018

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

• 한국군사과학기술학회지
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• 제21권4호
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• pp.508-519
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• 2018

This paper concerns on stabilization control of a gyro-stabilized 2-axes gimbal system which is mounted on a moving vehicles such as automobiles, armored vehicles, ships, flying vehicles, etc. A target image acquisition system is attached on the inner gimbal, and the gimbal systems are required to retain high stabilization accuracy in the absolute coordinate in order to provide fine target image while vehicle is moving. The stabilization control performance is hardly depended upon disturbance rejection ability of control, and disturbance feedforward compensation is effective because feedforward compensation reduce the amount of disturbance before the disturbance disturbs the systems. This paper suggests an experimental method which can estimate system parameters and disturbance torques by using 3-axes accelerometer mounted on the inner gimbal. Furthermore, a simple disturbance identification method which can be applied to any slanted base conditions has been suggested to identify mass unbalance vector and friction torques of each gimbal simultaneously. By using the estimated parameters, a feedforward compensation has been applied to the gyro-stabilized 2-axes gimbal system. The experimental results showed that the feedforward compensation based on the identification method suggested is effective to improve stabilization performances.

• 대한기계학회논문집A
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• 제21권2호
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• pp.252-260
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• 1997

In this paper, a friction compensation method using a disturbance observer is proposed for an impedance control of pneumatic manipulator. It is assumed that the generated torque by a pneumatic actuator can be estimated based on the pressure signals and the discharge volume. In order to improve the dynamic characteristics of the pneumatic actuator driven by meter out method, we construct the inner torque control system by feeding back the generated torque. In order to reduce the influence of disturbances comprising friction torque and parameter variations of plant, the impedance control system is constructed with a disturbance observer which estimates the disturbances based on the generated torque of pneumatic actuator, the angular velocity and the reaction torque. From some experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque in the impedance control of a pneumatic manipulator.

• 대한기계학회논문집
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• 제5권4호
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• pp.362-367
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• 1981

Two categories in the design of thick cylinders are suggested and their computer programs are developed; the one termed processing design to ensure the precise inner radius of the cylinder and the other, termd stress compensation design to reduce peak stresses in the cylinder wall. The processing design seeks suitable interference by the method of linear iteration to determine either the radius of the mandrel R or the inner radius ofthe chlinder R$\sub$1/. On the other hand, the stress compensation design seeks first the suitable m and which satisfies the design criteria .sigma.$\sub$actual/ < .sigma.$\sub$allowable/ and then tries to find the suitable interference for given m and .zeta. The design program developed here may be used either in the office at the planning stage of thick chlinders as machine elements of on the processing line to get precise final dimension of inner radius.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2007년도 7th International Meeting on Information Display 제7권1호
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• pp.76-79
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• 2007

Optical compensation films are widely used to enlarge viewing angle characteristics for LCDs. A new surface film with an inner light scattering layer was newly developed to improve gray scale inversion. This paper describes technologies regarding these films that enhance the viewing angle characteristics for LCDs.

• 전력전자학회논문지
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• 제19권3호
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• pp.257-265
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• 2014

This paper proposes a simple compensation method for switches of the unclamped voltage in the three-level NPC inverter. Voltages of inner-switches can be unclamped in the three-level NPC (neutral point clamped) inverter. It can cause the problem of the switch fault accident. By adding a capacitor, switches of the unclamped voltage can be clamped. Through the analysis of the circuit, the reason behind switches being unclamped was verified which leads to the solution method that designs a compensation capacitor. The proposed method was validated through the simulation and experimental results.

• 대한기계학회논문집A
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• 제20권2호
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• pp.540-552
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• 1996

In this paper, a compensation method of disturbance using a disturbance observer is proposed for a force control of a pneumatic robot manipulator. The generated torque by a pneumatic actuator can be estimated based on the pressure signals. The inner torque control system is constructed by feeding back the generated torque to improve the dynamic characteristics of the actuator. In order to reduce the influence of disturbances comprising friction torque, parameter variations of plant and environment and so on, the reaction torque control system is constructed with a disturbance observer which estimates the disturbances based on the reference input to the inner torque control system and the reaction torque sensed with a forced sensor. From some simulations and experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque and the parameter change of object in the force control of a pneumatic robot manupulator.

• 제어로봇시스템학회논문지
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• 제7권1호
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• pp.1205-1210
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• 2001

This paper describes a methodology using neural network to compensate the nonlinear error of deriving speed for electric differential system included in electric vehicle. An electric differential system which drives each of the left and right wheels of the electric vehicle independently. The electric vehicle driven by induction motor has the nonlinear speed error which depends on a steering angle and speed command. When a vehicle drives along a curved road lane, the speed unblance of inner and outer wheels makes vehicles vibration and speed reduction. To compensate for the speed error, we collected the speed data of the inner wheel and outer wheel in various speed and the steering angle data by using an manufactured electric vehicle and the real system. According to the analysis of the acquisited data, we designed the differential speed control system based on a speed error compensator using neural network.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.222-227
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• 2001

This paper introduces the spring-mounted odometer system which maintains the correct contact with the pipe wall and measures the distance along the pipe. The odometer wheel is designed to keep contact to the pipelines inner wall and to generate fifty rectangular pulses per one turn(l59.5681mm) during pigging. The pipeline has the defects in various types such as buckles, winkles, cracks, dents, welding point and so on. Specially, girth welding points which exist each 12m of the pipeline, much affects the operational environment of the odometer. The measurement error of the distance along the pipe is accumulated, for the measurement error of wheel's circumference and the pipeline inner environment. So, this paper proposes the method for the error compensation based on the analysis of the odometer's behavior around the girth welding point of pipe. The experimental results show that developed odometer system can be used for the intelligent pig with good performances.

• 한국산업정보학회논문지
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• 제17권7호
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• pp.43-50
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• 2012

본 논문에서는 차량용 센터필러 부품의 성형공정에서 발생하는 스프링백 문제를 해결하기 위한 일환으로 기존 부품의 금형보정이력 정보를 체계적으로 데이터베이스화하였다. 기존 부품의 경우 과도한 스프링백 발생에 의한 형상정밀도 불량을 해결하기 위하여 3차의 금형 보정을 현장기술자의 작업에 의하여 수행하였으나, 보정값이 정량화되어 있지 못한 문제가 있었다. 본 논문에서는 기존 금형 보정과정의 결과를 유한요소해석을 통하여 정량적으로 분석하고 보정이 의도대로 이루어졌는지를 평가하는 데이터베이스를 구축하였다. 구축된 데이터베이스 정보를 활용하여 유사부품의 금형설계에 활용하였으며, 결과적으로 보정횟수를 감소시키고도 제품을 성공적으로 성형할 수 있었다.