公开(公告)号：KR100507835B1

公开(公告)日：2005-08-17

申请号：KR1020030006597

申请日：2003-02-03

Applicant: 한국과학기술원

Inventor： 장평훈 ,  정제형

IPC: G05D13/60

CPC classification number: G05B11/42 ,  G05B13/024

Abstract: 본 발명은 PID 제어기의 설계에 관한 것으로, 특히 로봇 매니퓰레이터와 같이 2차 상 변환형식(phase variable form)으로 표현되는 비선형 MIMO(Multi Input Multi Output} 시스템에 PID 제어기 사용시 PID 제어기의 게인을 체계적으로 선정하는 PID 제어기의 최적 게인 선정방법에 관한 것이다.
본 발명은 최적 게인의 선정을 위해 샘플링 데이터 시스템(sampled data system)에서 PID 제어기와 시간지연제어(Time Delay Control)의 상관 관계를 보이고 이를 바탕으로 체계적으로 PID 제어기를 설계하는 방법을 제공하는 것이 특징이며, 또한, 본 발명은 제어 대상 시스템의 차수를 n이라 했을 때 3n개의 PID 제어기 게인들을 한 개나 n 보다 작은 개수의 파라미터로 체계적으로 선정할 수 있는 방법을 제공하는 것이 특징이다.

公开(公告)号：KR1020020062072A

公开(公告)日：2002-07-25

申请号：KR1020010003297

申请日：2001-01-19

Applicant: 한국과학기술원

Inventor： 장평훈 ,  박주이 ,  박형순 ,  정제형 ,  전보경

IPC: F16H55/18

CPC classification number: F16H19/005 ,  F16H57/12 ,  Y10T74/1836 ,  Y10T74/19623

Abstract: PURPOSE: A decelerator to prevent backlash is provided to regularly maintain tension produced to a cable when realizing high reduction ratio and to prevent backlash caused by the cable. CONSTITUTION: A decelerator to prevent backlash includes a driving unit(100), plural rotating units(200), and an outputting unit(300). In the driving unit, an end of a driving shaft(120) is coupled to a driving motor(140) and a primary cable(180) is wound on the periphery of the other end of the driving shaft. In the rotating unit, the primary cable is wound on the periphery of a primary cylinder(220) with extended and a rotating shaft(240) is penetrated in the direction of the central shaft of the primary cylinder, and the primary cylinder is reciprocated in the direction of axis. In the outputting unit, a secondary cable(160) wound on the rotating shaft is wound on the periphery of a secondary cylinder(320) with extended and an output shaft(340) is penetrated in the direction of the central shaft of the secondary cylinder. The cylinder can be reciprocated in the direction of the axis of the rotating and output shaft by the cable and the tension of the cable is regularly maintained. Therefore, backlash caused by the cable is prevented.

Abstract translation: 目的：提供防止齿隙的减速器，以便在实现高减速比时定期维持电缆产生的张力，并防止电缆引起的齿隙。 构成：防止间隙的减速器包括驱动单元（100），多个旋转单元（200）和输出单元（300）。 在驱动单元中，驱动轴（120）的端部联接到驱动电动机（140），并且主电缆（180）缠绕在驱动轴的另一端的周边。 在旋转单元中，主电缆缠绕在主汽缸（220）的周边上，延伸的旋转轴（240）沿着主汽缸的中心轴的方向穿透，并且主汽缸以 轴方向。 在输出单元中，缠绕在旋转轴上的辅助电缆（160）卷绕在二次圆筒（320）的周边上，延伸的输出轴（340）穿过次级圆筒（320）的中心轴的方向 。 气缸可以通过电缆在旋转和输出轴的轴线方向上往复运动，并且电缆的张力被定期地保持。 因此，防止由电缆引起的间隙。

公开(公告)号：KR1020040070399A

公开(公告)日：2004-08-09

申请号：KR1020030006597

申请日：2003-02-03

Applicant: 한국과학기술원

Inventor： 장평훈 ,  정제형

IPC: G05D13/60

CPC classification number: G05B11/42 ,  G05B13/024

Abstract: PURPOSE: A method for selecting the optimum gain of PID controller is provided to systematically tune all of the 3n number of gain through the gain tuning with a number being smaller than the number n. CONSTITUTION: A method for selecting the optimum gain of PID controller includes the steps of: selecting(S1000) the control target system in the type of multi-input and multi-output represented in the form of mathematical two dimensional variables; guiding(S2000) so as to have the correlation between the proportion derivation integration(PID) and the time delay control(TDC) for the selected control target system; determining(S3000) the natural frequency vector and the attenuation ratio vector; determining(S4000) the parameters in the form of matrix based on the natural frequency vector and the attenuation ratio vector; determining(S5000) the sampling time of the control target system; and selecting(S6000) each gain of the PID control based on the correlation.

Abstract translation: 目的：提供一种选择PID控制器最佳增益的方法，通过增益调整系统地调整3n个增益的数字，其数量小于数字n。 构成：选择PID控制器最佳增益的方法包括以数学二维变量形式表示的多输入多输出类型选择（S1000）控制目标系统; 引导（S2000），以便对所选择的控制目标系统具有比例导出积分（PID）和时间延迟控制（TDC）之间的相关性; 确定（S3000）固有频率矢量和衰减比矢量; 基于固有频率矢量和衰减比矢量确定（S4000）矩阵形式的参数; 确定（S5000）控制目标系统的采样时间; 以及基于所述相关性来选择（S6000）所述PID控制的每个增益。

公开(公告)号：KR100421425B1

公开(公告)日：2004-03-09

申请号：KR1020010003297

申请日：2001-01-19

Applicant: 한국과학기술원

Inventor： 장평훈 ,  박주이 ,  박형순 ,  정제형 ,  전보경

IPC: F16H55/18

CPC classification number: F16H19/005 ,  F16H57/12 ,  Y10T74/1836 ,  Y10T74/19623

Abstract: A backlash-free speed reducing device includes a drive unit, a rotary unit, and a power output unit. The drive unit consists of a drive motor having a drive shaft. A first power transmission cable is wound around the drive shaft. The rotary unit has two first cylinders, with the first transmission cable fixed to the external surface of the first cylinders at opposite ends thereof and wound around or unwound from the first cylinders in response to a rotation of the drive shaft. Each of the first cylinders is concentrically fitted over a rotating shaft such that the first cylinders are linearly movable along the rotating shafts in opposite directions. A second power transmission cable is fixed to the external surfaces of the rotating shafts of the two first cylinders at opposite ends thereof. The power output unit has a second cylinder, with the second transmission cable wound around the second cylinder. This second cylinder is concentrically fitted over a power output shaft such that the cylinder is linearly movable along the power output shaft. The two power transmission cables thus maintain desired tension during an operation of the speed reducing device for achieving a high speed reduction ration, and so it is possible to prevent a backlash of the cables during such operation.

Abstract translation: 无间隙减速装置包括驱动单元，旋转单元和动力输出单元。 驱动单元由具有驱动轴的驱动电机组成。 第一动力传输电缆缠绕在驱动轴周围。 旋转单元具有两个第一气缸，其中第一传输缆线在其相对端处固定到第一气缸的外表面并响应于驱动轴的旋转缠绕或从第一气缸解绕。 每个第一气缸同心地装配在旋转轴上，使得第一气缸可沿相反方向沿旋转轴线性地移动。 第二动力传输缆线在其两端固定在两个第一气缸的旋转轴的外表面上。 动力输出单元具有第二气缸，第二传输缆线围绕第二气缸缠绕。 该第二气缸同心地装配在动力输出轴上，使得气缸可沿着动力输出轴线性地移动。 因此，两个输电电缆在减速装置的运行期间保持期望的张力以实现高速减速比，并且因此可以防止在这种操作期间电缆的间隙。