지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 지도교수
- 성윤경
- 발행연도
- 2018
- 저작권
- 조선대학교 논문은 저작권에 의해 보호받습니다.
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초록· 키워드
오류제보하기
In this thesis, Input shaping commands are developed to reduce the transient and residual
deflection of flexible systems and remote input shaping devices that can remotely control
the system. Input Shaping technology is currently being applied to various flexible systems.
However, due to the external environment at the actual site, theoretical input shaping
techniques have low performance. So, input shaping techniques must take into account the
various nonlinear dynamics that occur in the field. In addition, the most important aspect
of the complex field is worker safety. However, to date, the operator performs dangerous
tasks by touching various equipment. Therefore, new interfaces are needed that improve
worker safety and task efficiency.
We discuss two examples in the field of nonlinear mechanics that take into account the
limits of acceleration and the case of first-order. The response from each case was
approximated and presented in the form of a Phasor vector and the vector diagram
approach was used. In addition, remote input shaping devices to increase worker safety and
task efficiency are based on Android. It also includes input shaping technology as well as
display images of cameras and control cranes.
The new input shapers are evaluated with Pendulum systems to analyze residual
deflection, robustness of system modeling. the remote input shaping device is evaluated to
reduce experiment time and number of collisions. new input shapers and remote input
shaping device are experimentally evaluated and verified with a mini-Bridge crane.
deflection of flexible systems and remote input shaping devices that can remotely control
the system. Input Shaping technology is currently being applied to various flexible systems.
However, due to the external environment at the actual site, theoretical input shaping
techniques have low performance. So, input shaping techniques must take into account the
various nonlinear dynamics that occur in the field. In addition, the most important aspect
of the complex field is worker safety. However, to date, the operator performs dangerous
tasks by touching various equipment. Therefore, new interfaces are needed that improve
worker safety and task efficiency.
We discuss two examples in the field of nonlinear mechanics that take into account the
limits of acceleration and the case of first-order. The response from each case was
approximated and presented in the form of a Phasor vector and the vector diagram
approach was used. In addition, remote input shaping devices to increase worker safety and
task efficiency are based on Android. It also includes input shaping technology as well as
display images of cameras and control cranes.
The new input shapers are evaluated with Pendulum systems to analyze residual
deflection, robustness of system modeling. the remote input shaping device is evaluated to
reduce experiment time and number of collisions. new input shapers and remote input
shaping device are experimentally evaluated and verified with a mini-Bridge crane.
목차
List of FiguresList of TablesNomenclatureAbstract제 1 장 서 론 ··········································································· 11.1 연구 필요성 ····························································································· 11.2 이론적 배경 ····························································································· 21.2.1 Zero Vibration(ZV) 입력성형제어기 ············································ 41.2.2 Zero Vibration Derivate(ZVD) 입력성형제어기 ························· 51.2.3 Extra Insenstivity(EI) 입력성형제어기 ········································· 61.2.4 Unit Magnitude Zero Vibration(UMZV) 입력성형제어기 ········· 71.2.5 입력성형제어기 평가 ····································································· 81.3 연구 목적 및 구성 ··············································································· 10제 2 장 유연계의 가속도 제한을 고려한 강건한 입력성형제어기 ······································································· 112.1 서론 ········································································································· 112.2 Robustness Input Shaped Command ···················································· 132.2.1 가속도 제한을 고려한 입력성형제어기 ····················· 132.2.2 가속도 제한을 고려한 입력성형제어기 ························· 202.3 성능 평가 ······························································································· 282.3.1 성능 평가 ········································································· 282.3.2 성능 평가 ············································································· 312.4 실험적 검증 ··························································································· 352.5 결론 ········································································································· 40제 3 장 유연계의 비선형 구동기 1st-order를 고려한 강건한 입력성형제어기 ······················································· 413.1 서론 ········································································································· 413.2 Robustness Input Shaped Command ···················································· 423.3 성능 평가 ······························································································· 503.4 실험적 검증 ··························································································· 533.5 결론 ········································································································· 57제 4 장 안드로이드 기반의 원격 입력성형장치 ··········· 584.1 서론 ········································································································· 584.2 안드로이드 어플리케이션 개발 ························································· 604.3 Summary of ZV and UMZV shaper ··················································· 634.4 실험장치 ································································································· 654.5 실험결과 ································································································· 664.6 결론 ········································································································· 69제 5 장 결론 및 향후 연구 계획 ······································ 70REFERENCE ············································································· 71APPENDIX A ················································································· 75A. Pendulum System ···················································································· 75APPENDIX B ················································································· 78B. Vector Diagram Approach ······································································ 78
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