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Çѱ¹Á¤º¸Åë½ÅÇÐȸ ³í¹®Áö (Journal of the Korea Institute of Information and Communication Engineering)
Çѱ¹Á¤º¸Åë½ÅÇÐȸ ³í¹®Áö (Journal of the Korea Institute of Information and Communication Engineering)
Current Result Document :
5
/ 5
ÀÌÀü°Ç
ÇѱÛÁ¦¸ñ(Korean Title)
½Å°æȸ·Î¸Á°ú ¿µ»óó¸® ¹× CAN Åë½Å±â¹ÝÀÇ µ¿Àû ÀÚ¼¼Á¦¾î¿¡ °üÇÑ ¿¬±¸
¿µ¹®Á¦¸ñ(English Title)
The Study on Dynamic Position Control base on Neural Networks, Image Processing and CAN Communication
ÀúÀÚ(Author)
±è°üÇü
±Ç¿ÀÇö
½Åµ¿¼®
º¯±â½Ä
Gwan-Hyung Kim
Oh-Hyun Kwon
Dong-Suk Sin
Gi-Sik Byun
¿ø¹®¼ö·Ïó(Citation)
VOL 17 NO. 11 PP. 2499 ~ 2504 (2013. 11)
Çѱ۳»¿ë
(Korean Abstract)
µ¿ÀûÀÎ ÀÚ¼¼Á¦¾î¿¡ ´ëÇÑ ÀÀ¿ëÀº ´Ù¾çÇÑ ¿Ü¶õÀÌ Á¸ÀçÇÏ´Â ºñ¼±Çü Ç÷£Æ®¿¡ ¹ß»ýÇÑ ¿Ü¶õÀ» Á¦°ÅÇϱâ À§ÇÑ ¸ðµç ºÐ¾ß¿¡ Àû¿ëÇÒ ¼ö ÀÖ´Ù. ¶ÇÇÑ, ¹ß»ýÇÑ ¿Ü¶õÀ» ¾î¶»°Ô °èÃøÇϴ°¡¿¡ µû¶ó Á¦¾î ¼º´ÉÀÌ ´Þ¶óÁú ¼ö ÀÖ´Ù. º» ³í¹®ÀÇ ½Ã½ºÅÛÀÇ ±¸¼ºÀº CAN Åë½ÅÀ» ±â¹ÝÀ¸·Î 3°³ÀÇ ¸®´Ï¾î ¾×Ãß¿¡ÀÌÅÍ(Linear Actuator)¸¦ µ¿ÀûÀ¸·Î Á¦¾îÇϵµ·Ï ÇÏ¿´À¸¸ç, Ç÷£Æ®ÀÇ ¿Ü¶õÀº ¼öÆò Ç÷£Æ® À§¿¡ º¼(ball)À» ³õ¾Æ ºñ¼±ÇüÀûÀÎ ¿Ü¶õÀ» °¡Çϵµ·Ï ÇÏ¿´´Ù. ¿Ü¶õ¿¡ ´ëÇÑ °èÃøÀº ¿µ»óó¸®(Image Processing)¸¦ ÅëÇÏ¿© ¿Ü¶õÀ» °èÃøÇÏ¿© Ç÷£Æ®¸¦ Á¦¾îÇϵµ·Ï ÇÏ¿´´Ù. ÀÌ·¯ÇÑ ºñ¼±ÇüÀûÀÎ ¿Ü¶õÀ» Á¦°ÅÇϱâ À§ÇÏ¿© º» ³í¹®¿¡¼´Â ºñ¼±Çü ½Ã½ºÅÛ¿¡ ´ëÇÏ¿© Á¦¾î¼º´ÉÀÌ ¶Ù¾î³ ½Å°æȸ·Î¸Á(Neural Networks)À» È°¿ëÇÏ¿© ±âÁ¸ÀÇ PI Á¦¾î¸¦ º¸¿ÏÇÏ¿© ÇÏ¿© ´õ¿í °ÀÎÇÑ Á¦¾î¼º´ÉÀ» Á¦½ÃÇÏ°íÀÚ ÇÑ´Ù.
¿µ¹®³»¿ë
(English Abstract)
Applications of dynamic position control are especially focused on cancellation of unknown disturbance against nonlinear dynamic plants. Control performance is technically dependent upon observation methodology of such disturbance signals. This paper presents a novel control strategy by using linear actuators based on CAN communication networks. Disturbance is measured from placing a ball on a flat plant and image processing technique is applied to observe dynamic position of a ball system. We devise a neural network based PI control system to realize robust control of the dynamic system.
Å°¿öµå(Keyword)
¿µ»óó¸®
¸®´Ï¾î ¾×Ãß¿¡ÀÌÅÍ
½Å°æȸ·Î¸Á
Image Processing
CAN
Linear Actuator
Neural Networks
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