This paper proposes a method to improve the position control synchronization performance by synchronizing the controller operation between servo drives based on the synchronization signal of the EtherCAT(Ethernet for Control Automation Technology)distributed clock. In order to synchronize the operation of the controller between the servo drives, the phase of the operating frequency of the PWM(Pulse Width Modulation) module for motor control was synchronized based on the synchronization signal. At this time, the operation sequence of the current, speed, and position controller of the servo drive operating based on the PWM operating frequency was rearranged. Therefore, the servo drives on the network run the same controller at the same time. And the time at which the master's command is reflected to the drive's controller and the time at which the drive's status information is acquired coincided among the drives. After establishing an experimental environment in which servo drives are arranged in the EthercCAT network system, we verified that the position synchronization performance between servo drives applying the proposed method is improved.

In case of worm reducer, the worm and worm wheel are the significant design elements. Most of the worm and worm wheel are being importer and assembled because that the localization is inadequate. As the demand increases and the necessity of localization and precision grows, to develop them is now more important things. In this study, we conducted the design, manufactured prototype and performance evaluation for worm reducer for dual lead 5.2:1 servo motor. The worm reducer is analyzed design reliability by finite element method. The performance evaluation for manufactured prototype worm reducer was conducted on the backlash, operation temperature and contact efficiency with/without load and satisfied for the all test items.

This paper presents a method of measuring the 6 DOF　motion of a micro object using images taken of interference fringes projected onto the object. Information from the fringe patterns allows for extracting the 6 DOF motion of the object in one image, allowing for real time measurement of the object's pose. This measurement technique is applied to a visual servo control scheme where the object's 6 DOF　motion is controled. Experimental results of the developed system are presented.

Robotic manipulators are increasingly deployed in complex environments or to perform complex tasks. Studies on dual-arm-robots have been continually carried out in robotics areas to provide robots in dangerous environments, similar to those which human beings would be normally in, without a special change to the working environment. In previous study, a dual-arm-robot has been designed. The robot, however, has some defects in its heavy weight and big shape. In order to reduce weight of an arm robot, the robot has been designed using a hollow-shaft-servo- assembly. The hollow-shaft-servo-assembly is composed of a hollow-shaft-servo-motor, a hollow- shaft-harmonic-drive, a hollow-shaft-brake, a hollow-shaft-encoder, and a servo-drive.

본 논문에서는 핫셀에서의 원격 운전 및 유지보수 작업을 위해 개발한 천정이동 서보 조작기시스템에 대해 소개한다. 조작기 시스템은 텔레스코픽형 이송장치, 슬레이브, 마스터, 그리고 제어시스템으로 구성되어 있다. 개발한 시스템에 대해 위치 추종, 하중 취급, 신뢰성, 및 조작성에 대한 테스트를 수행하였으며 이에 대한 테스트 결과를 제시한다. 이러한 테스트 결과를 바탕으로 개선된 시스템 이 설계되었으며 이 개선된 시스템 이 차세대 공정의 실증에 적용될 예정이다.

기계식 마스터-슬레이브 매니퓰레이터의 결점인 접근 지역의 제한을 극복하기 위해 차세대관리 공정장치 원격 유지보수용 천정이동 서보 매니퓰레이터(Bridge Transported Servo Manipulator, BTSM) 시스템을 개발하고 있다. 서보 매니퓰레이터는 핫셀 내 천정이동 브릿지(bridge)에 부착되는 슬레이브 매니퓰레이터와 핫셀 밖 운전지 역에 설치되는 마스터 매니퓰레이터로 구성된다. 각각의 매니퓰레이터는 몸체 회전, 상부 팔 틸트(tilt), 하부 팔 틸트, 하부 팔 회전, 손목 팬/틸트(pan & tilt) 및 잡는 운동(grasp motion)의 7 자유도를 갖는다. 하부 팔 회전, 손목 팬/틸트 및 잡는 운동은 매니퓰레이터의 무게에 비해 취급 용량을 크게 하고, 마찰을 작게 하기 위하여 와이어 구동 메카니즘을 채택하였다. 그러나, 와이어 구동 메카니즘은 한 축이 움직일 때 다른 축도 영향을 받을 수 있는 단점이 있다. 본 논문에서는 이와 같은 단점을 극복하기 위해 와이어 구동 링크(link) 사이의 전달 특성을 수식화 하였다. 와이어구동 링크들간의 전달특성 분석 및 실험을 통해서 이들의 기대하지 않은 동작 특성을 확인하였다. 또한, 제안한 보상식을 통해서 기대하지 않은 동작을 크게 줄일 수 있음을 확인하였다.

The energy saving is one of the most important factors for profit in marine transportation. In order to reduce the fuel oil consumtion the ship's propulsion efficiency must be increased as possible. The propulsion efficiency depends upon a combination of an engine and a propeller. The propeller has better efficiency as lower rotational speed. This situation led the engine manufacturers to design the engine that has low speed, long stroke and a small number of cylinders. Consequently, the variation of rotational torque became larger than before because of the longer delay-time in fuel oil injection process and an increased output per cylinder. As this new trends the conventional mechanical-hydrualic governors for engine speed control have been replaced by digital speed controllers which adopted the PID control or the optimal control algorithm. But these control algorithms have not enough robustness to suppress the variation of the delay-time and the parameter perturbation. In this paper we consider the delay-time and the perturbation of engine parameters as the modeling uncetainties. Next we design the robust servo controller which has zero offset in steady state engine speed, based on H sub(∞) control theory. The validity of the controller was investigated through the response simulation. We used a personal computer and an analog computer as the digital controller and the engine (plant) part respectively. And, we could certify that the designed controller maintains its robust servo performance even though the engine parameters may vary.

전원을 단락시킴이 없는 SCR이중 브리지 트리거 방식을 고안하여, 정역전이 가능한 SCR 서보증폭기로 구성하여 본 결과 다음과 같은 결론을 내릴 수 있었다. I. 출력전압의 부호를 변경시킬 때 현재의 전언부호가 반전될 때까지 도통 상태를 유지시키다가, 전원부호가 반전된 이후 적절한 SCR을 도통 시킴으로서 크리거 실패가 없게 되어, 전원을 단락시키지 않게 되고 SCR의 소손을 막을 수 있었다. II. -에서 약 30Hz 부근까지는 60Hz의 전원으로서 원하는 출력을 표현할 수 있었는데, 이는 대형 직류 전동기의 동특성을 충분히 확보할 수 있는 값이다. III. 유도성 부하의 경우라도 이미 도통된 SCR을 통하여 유동성부하L에 저장될 수 있는 에너지의 총량은 전원의 반주기 시간과 전원이 파고치값 한계내이므로, 다음 반주기동안 부호만 반전된 전원 전압과 동일한 반주기의 시간이 존재하므로, 에너지 보존의 법칙에 의해 반드시 다음 반주기 안에 현재도통된 SCR은 소호되게 되므로 트리거실패는 존재하지 않는다.

Analog PID controllers have been designed to make good use of position control in industries. Recently, the importance of digital position control is emphasized for the requirements of controller which are not only to control the objects but to include various aspects such as easiness of design and implementation, simple exchange of control program and convenient communications of data between various controllers and a host computer. This study proposes a combined control method which is mixed the vaiable structure control (VSC) with the PI control for minimum time position control of DC servo motor by microcomputer. The results of test by this method show offset-free and minimum time optimal position control which is not affected by the disturbance and the system parameter variations. The validity of the proposed method comparing with the conventional PID control is proved by the response experiments.

The Variable Structure System(VSS) will be of much intrest to educators and design engineers who wish to demonstrate and investigate sophisticated position control methods and their applications. This paper describes DC motor position control by means of VSS concept. The control scheme is derived, implemented and tested in the laboratory where IBM AT computer has been used as a digital controller to control a representative servo system. The control system schematic is given and sample results are shown for illustration. This experiment may serve as a basis for further application of VSS.

본 논문에서는, 문헌[1]에서 보였던 적분형 서어보계의 구성문제를 목표입력이 선형자유계의 출력으로 얻어지는 경우로 일반화하여 확대계수를 얻고 쌍선형변환법에 의해 폐류우프계를 구성하는 설계법을 제안했다. 본 설계법의 유효성을 확인하기 위해, 전기 서어보기구의 각도 제어에 관한 응용 예를 보였다. 실제적인 서어보 시스템의 설계문제에 있어, 그 폐루우프계의 특성근을 정확한 위치에 배치하기보다는 오히려 어떤 요구하는 과도응답이 얻어질 수 있게 하는 영역내에 배치하면 된다는 의미에서 보면, 본 서어보계 구성법은 그 실제적인 의미가 크다고 할 수 있다.

Using a servo acceleration sensor applied to the inertial navigation system for various weapons system, We developed a sensor which can measure the safety of structure and earthquake. To verify the performance of the sensor, we analyzed the building structure frequency domain, low frequency domain, El-centro sesmic wave for response characteristic. We also tested the sensor whether it can measure angular displacement or not.