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 paper presents a digital speed control approach of induction motor systems by using a digital redesign method and adopting a well known 2nd order model as the system model equation. The basic concept using the modeling equation is induced from the control theory stand point such that we can describe usually the motor system connected by inverter, generator and load etc. just as a mechanical system to be controlled. The concept does not demand us the complicated vector-based modeling equation adopted in the traditional methods for the speed control of induction motor. The effectiveness of the servo control system composed by the above mentioned design concept is illustrated by the experimental results in the presence of step reference change and generator load variation. It is observed from the experimental results that the steady state error of the experimental set up becomes zero after some regulation time and the induction motor system is robust in spite of reference signal change and load variation of generator.

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.

In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot is proposed using an integral manifold approach. Obtaining the exact model for both motor-side and linkside dynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives are installed. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamics exactly even with bounded disturbances such as motor friction. The performance of the proposed IMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.

본 연구의 목적은 운동기술 학습에 있어서 자기조절을 통한 과제 난이도 선택의 효과를 규명하는 것이며, 구체적으로 학습자가 자기조절전략에 의한 난이도 선택에 있어서 난이도 선택 폭에 따른 정확성 과제의 학습 차이를 규명하는데 있다. 연구대상자(n=40)는 자기통제집단과 한 쌍이 되는 동반집단, 제한-자기통제집단과 한쌍이 되는 제한-동반집단 중, 하나의 집단에 10명씩 무선 할당되어 실험에 참여하였다. 실험과제는 골프퍼팅 과제로써 한번의 퍼팅으로 최대한 목표지점에 일치시키는 것이다. 사전연습단계 후에 각 네 개의 집단은 본 연습에 참여하였고, 약 24시간 후에 전이검사를 실시하였다. 종속변인은 2차원 과제에서 목표수행에 대한 절대적인 차이를 나타내는 반경오차와 수행의 일관성을 나타내는 이원변량가변오차이다. 통계분석을 위해 사전 연습단계와 전이단계에서는 각 종속변인에 대하여 집단 간 차이를 확인하기 위하여 일원변량분석을 실시하였고 습득단계에서는 집단과 분단을 독립변인으로 분단을 반복 측정하는 이원변량분석을 실시하였는데 연구결과는 다음과 같다. 첫째, 사전연습단계는 집단 간에 반경오차와 이원변량 가변오차가 통계적으로 유의한 차이를 나타내지 않았다. 둘째, 습득단계에서는 반경오차와 이원변량가변오차는 분단에 따른 통계적 유의한 차이를 나타냈지만 집단에 따른 주효과와 분단과 집단간의 상호작용 효과는 나타나지 않았다. 셋째, 전이단계1(근거리)에서는 집단 간에 반경오차와 이원변량가변오차가 통계적으로 유의한 차이를 나타내지 못했지만, 전이단계2(원거리)에서는 반경오차와 이원변량 가변오차가 집단 간 통계적으로 유의한 차이를 나타냈다. 이러한 결과를 통해 본 연구는 정확성 과제 학습에 있어서 자기조절 전략을 통한 과제 난이도 선택시 제한된 난이도 조건보다 선택의 폭이 넓은 난이도 조건이 운동학습 효과를 높일 수 있을 가능성을 제시해 주고 있다.

본 논문에서는 항만 자동화를 위해 새로이 제안된 리니어 모터 기반 컨테이너 이송시스템에 지능제어기법을 이용하여 그 정밀도를 향상시키고자 한다. LMCTS(Linear Motor-based Container Transfer System)는 스케일의 거대함 때문에 일반 리니어 모터에서 중요시 되지 않는 정지마찰력과 디텐트럭(detent force)이 정밀제어에 큰 문제가 된다. 특히, 컨테이너 적제유무에 따라 시스템 자체가 급격히 변하므로 기존의 PID형 제어기로는 좋은 성능을 얻기 어렵다. 따라서 본 논문에서는 같은 구조를 갖는 두 개의 DR-FNN(Dynamically- constructed Recurrent Fuzzy Neural Network)를 제어기와 에뮬레이터로 구성하여 이러한 문제를 해결하고자 하였다.

Most movements executed in sport performance and everyday life are aimed at visual objects and are controlled visually. The role of visual feedback in control of movements has been a central issue in the study of motor behavior since Woodworth`s research in 1899. The time required to identify, decide, and initiate within-movement corrections based upon visual feedback has been called visual feedback processing time. The estimated visual processing time in most early experiments is about 250-300msec. However, there have been several evidences suggesting that visual feedback could be processed and used in lesser time. The evidences for faster visual processing time comes from the selective exclusion of visual feedback, the control of saccadic eye movement, and the analysis of movement trajectory. These experiments estimated that the visual processing time is about 120msec or less.