公开(公告)号：KR101451783B1

公开(公告)日：2014-10-16

申请号：KR1020130109937

申请日：2013-09-12

Applicant: 국방과학연구소

Inventor： 조시훈 ,  남병욱 ,  이호정 ,  조성훈 ,  이종효

IPC: G01N19/02 ,  G06F19/00

CPC classification number: G01N19/02 ,  G05B23/0254

Abstract: The present invention relates to an apparatus and a method for inferring a frictional characteristic of a driving device using a Kalman filter which can remarkably reduce experiment time used to infer a frictional characteristic of a driving device. According to an embodiment disclosed in the present specification, the method of estimating a frictional characteristic of a driving device includes applying first and second driving torques to the driving device to measure a change in first angular velocity of the driving device with respect to the first driving torque and a change in second angular velocity of the driving device with respect to the second driving torque, and estimating inertia and viscous friction coefficient of the driving device based on the changes in the first angular velocity and the second angular velocity; and estimating Coulomb friction force based on the estimated inertia and viscous friction coefficient.

Abstract translation: 本发明涉及一种用于推断使用卡尔曼滤波器的驱动装置的摩擦特性的装置和方法，该卡尔曼滤波器可以显着地减少用于推断驱动装置的摩擦特性的实验时间。 根据本说明书中公开的实施例，估计驱动装置的摩擦特性的方法包括将第一和第二驱动扭矩施加到驱动装置以测量驱动装置相对于第一驱动的第一角速度的变化 基于所述第一角速度和所述第二角速度的变化来估计所述驱动装置的惯性和粘性摩擦系数;以及驱动装置的第二角速度相对于所述第二驱动扭矩的第二角速度的变化， 并根据估计的惯性和粘性摩擦系数估算库仑摩擦力。

公开(公告)号：KR101386635B1

公开(公告)日：2014-04-29

申请号：KR1020120136405

申请日：2012-11-28

Applicant: 국방과학연구소

Inventor： 이종효 ,  이진영 ,  권승만 ,  안명환 ,  지재경

IPC: H04W74/08 ,  H04W84/20

CPC classification number: H04W74/0808 ,  H04W84/20

Abstract: The present invention relates to a method to transmit and receive multiple messages in a wireless communication system, and according to an embodiment of the present invention includes a step of transmitting messages to a plurality of slaves; a step of receiving Ack on the message to each slave; a step of receiving the messages from each slave; and a step of generating one integrated Ack with a master when all the messages are received from a plurality of slaves and the integrated Ack transmitted to all the slaves. Therefore, the present invention remarkably reduces the time for transmitting and receiving messages. [Reference numerals] (AA) Start; (BB,EE,FF,GG,II) No; (CC,DD,HH,JJ,LL) Yes; (MM) End; (S10) Transmission request; (S11) Master?; (S12) Comparative slot range?; (S13) Network is available?; (S14) Ack slot range?; (S15) Allocated slot range?; (S16) Transmission; (S17) Integrated slot range?; (S18) Generate an integrated Ack to be transmitted to all slabs

Abstract translation: 本发明涉及一种在无线通信系统中发送和接收多个消息的方法，并且根据本发明的实施例包括向多个从设备发送消息的步骤; 接收Ack消息给每个从站的步骤; 从每个从站接收消息的步骤; 以及当从多个从站接收到所有消息并将集成的Ack发送到所有从设备时，与主站产生一个集成的Ack的步骤。 因此，本发明显着地减少了发送和接收消息的时间。 （附图标记）（AA）开始; （BB，EE，FF，GG，II）否; （CC，DD，HH，JJ，LL）是; （MM）结束; （S10）发送请求; （S11）硕士？ （S12）比较槽范围 （S13）网络可用？ （S14）Ack槽范围 （S15）分配槽位数 （S16）传输; （S17）综合槽位？ （S18）生成要发送到所有板块的集成Ack