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์ค‘์•™๋Œฟ’ ์บก์Šคํ†ค๋œ์ž์่œ ๋ณด๊ณ ์„œ

"์ค‘์•™๋Œฟ’ ์บก์Šคํ†ค๋œ์ž์่œ ๋ณด๊ณ ์„œ"์— ๋Œ€ํ•œ ๋‚ด์šฉ์ž…๋‹ˆ๋‹ค.
10 ํŽ˜์ด์งฟ’
ํ•œ์้œ์˜คํ”ผ์Šค
์ตœ์ดˆ๋“ฑ๋ก์ผ 2018.10.21 ์ตœ์ข…์ ฟ’์ž‘์ผ 2017.12
10P ๋ฏธ๋้ฉ๋ณด๊ธฐ
์ค‘์•™๋Œฟ’ ์บก์Šคํ†ค๋œ์ž์่œ ๋ณด๊ณ ์„œ
  • * ๋ณธ ๋ฌธ์„œ๋Š” ํ•œ๊ธ€ 2005 ์ด์ƒ ๋ฒ„์ „์—์„œ ์ž‘์„ฑ๋œ ๋ฌธ์„œ์ž…๋‹ˆ๋‹ค. ํ•œ๊ธ€ 2002 ์ดํ•˜ ํ”„๋กœ๊ทธ๋žจ์—์„œ๋Š” ์—ด์–ด๋ณผ ์ˆ˜ ์—†์œผ๋‹ˆ, ํ•œ๊ธ€ ๋ทฐ์–ดํ”„๋กœ๊ทธ๋žจ(ํ•œ๊ธ€ 2005 ์ด์ƒ)์„ ์„ค์น˜ํ•˜์‹  ํ›„ ํ™•์ธํ•ด์ฃผ์‹œ๊ธฐ ๋ฐ”๋ž๋‹ˆ๋‹ค.

    ๋ฏธ๋้ฉ๋ณด๊ธฐ

    ๋ชฉ์ฐจ

    ์—†์Œ

    ๋ณธ๋ๅฉ๋‚ด์šฉ

    Magnetostrictive Actuator(์ž๊ธฐ๋ณ€ํ˜• ๊ตฌ๋™๊ธฐ)์—์„œ ๋‚˜ํƒ€๋‚˜๋Š” ๋น„๋Œ€์นญ ํžˆ์Šคํ…Œ๋ฆฌ์‹œ์Šค๋ฅผ Anayltical Expression์„ ์‚ฌ์šฉํ•˜์—ฌ Matlab ํ”„๋กœ๊ทธ๋žจ์œผ๋กœ ๋ชจ๋ธ๋งํ•˜๊ณ , Prandtl-Ishlinskii Model์˜ ์—ญ ๋ชจ๋ธ์„ ์œ ๋„ํ•˜์—ฌ ํžˆ์Šคํ…Œ๋ฆฌ์‹œ์Šค์˜ ์„ ํ˜• ๋ณด์ƒ์„ ๋ชฉํ‘œ๋กœ ํ•œ๋‹ค. ํ•˜์ง€๋งŒ, ์‹ค์ œ ์‹คํ—˜์—์„œ๋Š” Modeling error๋กœ ์ธํ•ด ์™„๋ฒฝํžˆ ์„ ํ˜• ๋ณด์ƒ์ด ์ด๋ฃจ์–ด์ง€์ง€ ์•Š์œผ๋ฏ€๋กœ Controller๋ฅผ ํ•„์š”๋กœ ํ•œ๋‹ค. ์ด๋ฅผ ์œ„ํ•ด PID Controller์™ฟ’ Prescribed Adaptive Controller๋ฅผ ์‚ฌ์šฉํ•˜์—ฌ tracking error๊ฐ€ 0์— ๊ฐ€๊นŒ์›Œ์ง€๋„๋ก ์ œ์–ดํ•˜๋Š” ๊ฒƒ์„ ์ตœ์ข… ๋ชฉํ‘œ๋กœ ํ•˜๊ณ  ์ด ๋‘ ์ œ์–ด๊ธฐ์˜ ํŠน์„ฑ์„ ๋น„๊ตํ•œ๋‹ค.

    Matlab ํ”„๋กœ๊ทธ๋žจ์„ ์‚ฌ์šฉํ•˜์—ฌ Simulation ํ•˜๋Š” ๊ฒƒ์ด๊ธฐ ๋•Œ๋ฌธ์— ์„ค๊ณ„์— ์ œํ•œ ์š”์†Œ๋Š” ์—†๋‹ค๊ณ  ํŒ๋‹จํ•œ๋‹ค.

    *Hysteresis : ์ž…๋ ฅ์— ๋Œ€ํ•œ ์ถœ๋ ฅ์˜ ๊ทธ๋ž˜ํ”„๋ฅผ ๊ทธ๋ ธ์„ ๋•Œ, ํ๋ฃจํ”„๋ฅผ ๊ทธ๋ ค ํ•˜๋‚˜์˜ ์ž…๋ ฅ ๊ฐ’์— ๋Œ€ํ•œ ์ถœ๋ ฅ ๊ฐ’์ด ๋‘ ๊ฐœ ์ด์ƒ์ธ ๊ฒฝ์šฐ๋ฅผ ์˜๋ฏธํ•˜๋ฉฐ ์ •๋ฐ€ํ•œ ์ œ์–ด๋ฅผ ํ•˜๊ธฐ์—๋Š” ๋งค์šฐ๊นŒ๋‹ค๋กญ๋‹ค.
    ํžˆ์Šคํ…Œ๋ฆฌ์‹œ์Šค๋Š” Magentostrictive&Piezoelectric
    Actuator์™ฟ’ ๊ฐ™์ด ์Šค๋งˆํŠธ ์žฌ๋ฃŒ์— ๊ธฐ๋ฐ˜์„ ๋‘๊ณ  ์žˆ๋Š” ์žฅ์น˜์—์„œ ์ฃผ๋กœ ๋‚˜ํƒ€๋‚œ๋‹ค. ๋ฟ๋งŒ ์•„๋‹ˆ๋ผ Mechanical Systems, Economics, Neuroscience, Electronics๋“ฑ์˜
    ๋‹ค์–‘ํ•œ ๋ถ„์•ผ์—์„œ ๋‹ค๋ฃจ๊ณ  ์žˆ๋‹ค.

    Key Words: Magnetostrictive Actuator(์ž๊ธฐ๋ณ€ํ˜• ๊ตฌ๋™๊ธฐ), Hysteresis(ํžˆ์Šคํ…Œ๋ฆฌ์‹œ์Šค), Prandtl-Ishlinskii Model
    (PI๋ชจ๋ธ), Asymmetric Hysteresis,(๋น„๋Œ€์นญ ํžˆ์Šคํ…Œ๋ฆฌ์‹œ์Šค), Asymmetric Shifted Prandtl-Ishlinskii Model
    (ASPI ๋ชจ๋ธ), PID Controller(PID ์ œ์–ด๊ธฐ), Prescribed Adaptive Controller, Modeling error(๋ชจ๋ธ๋ง ์—๋Ÿฌ) ๋“ฑ

    ์ฐธ๊ณ ์ž๋ฃŒ

    ยท LI, Zhi; SU, Chun-Yi; CHEN, Xinkai. Modeling and inverse adaptive control of asymmetric hysteresis systems with applications to magnetostrictive actuator. Control Engineering Practice, 2014, 33: 148-160.
    ยท (2) Esbrook, A, Xiaobo, T., & Khalil, H. K (2013) Control of systems with hysteresis via servo compensation and its application to nano positioning. IEEE Transactions on Control Systems Technology, 21(3), 725-738.
    ยท (3) AL JANAIDEH, Mohammad; RAKHEJA,
    ยท Subhash; SU, Chun-Yi. A generalized Prandtlโ€“Ishlinskii model for characterizing the hysteresis and saturation nonlinearities of smart actuators. Smart Materials and Structures, 2009, 18.4: 045001.
    ยท (4) Smith, R (2005) Smart material systems : Model development Society for industrial and Applied Mathematics.
    ยท (5) Su, C.-Y., Wang Q., Chen, X., & Rakheja, S. (2005) Adaptive variable structure control of a class of nonlinear systems with unknown Prandtl-Ishlinskii hysteresis. IEEE Transactions on Automatic Control, 50(12), 2069-2074
    ยท (6) Krejci, P & Kuhnen, K. (2001) Inverse control of systems with hysteresis and creep. IEE Proceedings of Control Theory and Applications, 148(3), 185-192.
  • ์ž๋ฃŒํ›„๊ธฐ

      Ai ๋ฆฌ๋ทฐ
      ๋งค๋ฒˆ ์ƒˆ๋กœ์šด ์ธ์‚ฌ์ดํŠธ๋ฅผ ์ œ๊ณตํ•ด ์ฃผ์–ด ์ง€์‹์˜ ํญ์ด ๋„“์–ด์ง€๋Š” ๊ธฐ๋ถ„์ž…๋‹ˆ๋‹ค. ์งฟ’์‹ํŒ๋งค์ž ๋•๋ถ„์— ๋งŽ์€ ๊ฒƒ์„ ๋ฐฐ์šฐ๊ณ  ์žˆ์Šต๋‹ˆ๋‹ค. ์ •๋ง ์ถ”์ฒœํ•˜๊ณ  ์‹ถ์Šต๋‹ˆ๋‹ค!
    • ์ž์ฃผ๋ฌป๋Š”์งˆ๋ๅฉ์˜ ๋‹ต๋ณ€์„ ํ™•์ธํ•ด ์ฃผ์„ธ์š”

      ํ•ดํ”ผ์บ ํผ์Šค FAQ ๋”๋ต–๊ธฐ

      ๊ผญ ์•Œ์•„์ฃผ์„ธ์š”

      • ์ž๋ฃŒ์˜ ์ •๋ณด ๋ฐ ๋‚ด์šฉ์˜ ์ง„์‹ค์„ฑ์— ๋Œ€ํ•˜์—ฌ ํ•ดํ”ผ์บ ํผ์Šค๋Š” ๋ณด์ฆํ•˜์ง€ ์•Š์œผ๋ฉฐ, ํ•ด๋‹น ์ •๋ณด ๋ฐ ๊ฒŒ์‹œ๋ฌผ ์ €์ž‘๊ถŒ๊ณผ ๊ธฐํƒ€ ๋ฒ•์  ์ฑ…์ž„์€ ์ž๋ฃŒ ๋“ฑ๋ก์ž์—๊ฒŒ ์žˆ์Šต๋‹ˆ๋‹ค.
        ์ž๋ฃŒ ๋ฐ ๊ฒŒ์‹œ๋ฌผ ๋‚ด์šฉ์˜ ๋ถˆ๋ฒ•์  ์ด์šฉ, ๋ฌด๋‹จ ์ „์žฌโˆ™๋ฐฐํฌ๋Š” ๊ธˆ์ง€๋˜์–ด ์žˆ์Šต๋‹ˆ๋‹ค.
        ์ €์ž‘๊ถŒ์นจํ•ด, ๋ช…์˜ˆํ›ผ์† ๋“ฑ ๋ถ„์Ÿ ์š”์†Œ ๋ฐœ๊ฒฌ ์‹œ ๊ณ ๊ฐ๋น„๋ฐ”์นด์ง€๋…ธ Viva์˜ ์ €์ž‘๊ถŒ์นจํ•ด ์‹ ๊ณ ๋น„๋ฐ”์นด์ง€๋…ธ Viva๋ฅผ ์ด์šฉํ•ด ์ฃผ์‹œ๊ธฐ ๋ฐ”๋ž๋‹ˆ๋‹ค.
      • ํ•ดํ”ผ์บ ํผ์Šค๋Š” ๊ตฌ๋งค์ž์™ฟ’ ํŒ๋งค์ž ๋ชจ๋‘๊ฐ€ ๋งŒ์กฑํ•˜๋Š” ์„œ๋น„์Šค๊ฐ€ ๋˜๋„๋ก ๋…ธ๋ ฅํ•˜๊ณ  ์žˆ์œผ๋ฉฐ, ์•„๋ž˜์˜ 4๊ฐ€์ง€ ์ž๋ฃŒํ™˜๋ถˆ ์กฐ๊ฑด์„ ๊ผญ ํ™•์ธํ•ด์ฃผ์‹œ๊ธฐ ๋ฐ”๋ž๋‹ˆ๋‹ค.
        ํŒŒ์ผ์˜ค๋ฅ˜ ์ค‘๋ณต์ž๋ฃŒ ์ €์ž‘๊ถŒ ์—†์Œ ์„ค๋ช…๊ณผ ์‹ค์ œ ๋‚ด์šฉ ๋ถˆ์ผ์น˜
        ํŒŒ์ผ์˜ ๋‹ค์šด๋กœ๋“œ๊ฐ€ ์ œ๋Œ€๋กœ ๋˜์ง€ ์•Š๊ฑฐ๋‚˜ ํŒŒ์ผํ˜•์‹์— ๋งž๋Š” ํ”„๋กœ๊ทธ๋žจ์œผ๋กœ ์ •์ƒ ์ž‘๋™ํ•˜์ง€ ์•Š๋Š” ๊ฒฝ์šฐ ๋‹ค๋ฅธ ์ž๋ฃŒ์™ฟ’ 70% ์ด์ƒ ๋‚ด์šฉ์ด ์ผ์น˜ํ•˜๋Š” ๊ฒฝ์šฐ (์ค‘๋ณต์ž„์„ ํ™•์ธํ•  ์ˆ˜ ์žˆ๋Š” ๊ทผ๊ฑฐ ํ•„์š”ํ•จ) ์ธํ„ฐ๋„ท์˜ ๋‹ค๋ฅธ ์‚ฌ์ดํŠธ, ์—ฐ๊ตฌ๊ธฐ๊ด€, ํ•™๊ป“, ์„œ์  ๋“ฑ์˜ ์ž๋ฃŒ๋ฅผ ๋„์šฉํ•œ ๊ฒฝ์šฐ ์ž๋ฃŒ์˜ ์„ค๋ช…๊ณผ ์‹ค์ œ ์ž๋ฃŒ์˜ ๋‚ด์šฉ์ด ์ผ์น˜ํ•˜์ง€ ์•Š๋Š” ๊ฒฝ์šฐ
    ๋ฌธ์„œ ์ดˆ์•ˆ์„ ์ƒ์„ฑํ•ด์ฃผ๋Š” EasyAI
    ์•ˆ๋…•ํ•˜์„ธ์š”. ํ•ดํ”ผ์บ ํผ์Šค์˜ ๋ฐฉ๋Œ€ํ•œ ์ž๋ฃŒ ์ค‘์—์„œ ์„ ๋ณ„ํ•˜์—ฌ ๋‹น์‹ ๋งŒ์˜ ์ดˆ์•ˆ์„ ๋งŒ๋“ค์–ด์ฃผ๋Š” EasyAI ์ž…๋‹ˆ๋‹ค.
    ์ €๋Š” ์•„๋ž˜์™ฟ’ ๊ฐ™์ด ์ž‘์—…์„ ๋„์™ฟ’๋“œ๋ฆฝ๋‹ˆ๋‹ค.
    - ์ฃผ์ œ๋งŒ ์ž…๋ ฅํ•˜๋ฉด ๋ชฉ์ฐจ๋ถ€ํ„ฐ ๋ณธ๋ๅฉ๋‚ด์šฉ๊นŒ์ง€ ์ž๋™ ์ƒ์„ฑํ•ด ๋“œ๋ฆฝ๋‹ˆ๋‹ค.
    - ์žฅ๋ฌธ์˜ ์ฝ˜ํ…์ธ ๋ฅผ ์‰ฝ๊ณ  ๋น ๋ฅด๊ฒŒ ์ž‘์„ฑํ•ด ๋“œ๋ฆฝ๋‹ˆ๋‹ค.
    - ์Šคํ† ์–ด์—์„œ ๋ฌด๋ฃŒ ์บ์‹œ๋ฅผ ๊ณ„์ •๋ณ„๋กœ 1ํšŒ ๋ฐœ๊ธ‰ ๋ฐ›์„ ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค. ์ง€๊ธˆ ๋ฐ”๋กœ ์ฒดํ—˜ํ•ด ๋ณด์„ธ์š”!
    ์ด๋Ÿฐ ์ฃผ์ œ๋“ค์„ ์ž…๋ ฅํ•ด ๋ณด์„ธ์š”.
    - ์œ ์•„์—๊ฒŒ ์ ํ•ฉํ•œ ๋ฌธํ•™์ž‘ํ’ˆ์˜ ๊ธฐ์ค€๊ณผ ํŠน์„ฑ
    - ํ•œ๊ตญ์ธ์˜ ๊ฐ€์น˜๊ด€ ์ค‘์—์„œ ์ •์‹ ์  ๊ฐ€์น˜๊ด€์„ ์ด๋ฃจ๋Š” ๊ฒƒ๋“ค์„ ๋ฌธํ™”์  ๋ฌธ๋ฒ•์œผ๋กœ ์ •๋ฆฌํ•˜๊ณ , ํ˜„๋Œ€ํ•œ๊ตญ์‚ฌํšŒ์—์„œ ์ผ์–ด๋‚˜๋Š” ์‚ฌ๊ฑด๊ณผ ์‚ฌ๊ณ ๋ฅผ ๋น„๊ตํ•˜์—ฌ ์ž์‹ ์˜ ์˜๊ฒฌ์œผ๋กœ ๊ธฐ์ˆ ํ•˜์„ธ์š”
    - ์ž‘๋ณ„์ธ์‚ฌ ๋…ํ›„๊ฐ
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    ์ฑ—๋ด‡์œผ๋กœ ๊ฐ„ํŽธํ•˜๊ฒŒ ์ƒ๋‹ดํ•ด๋ณด์„ธ์š”.
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