비선형 강건 입력성형제어기 및 터치형 입력성형장치의 개발

Abstract

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.