표제지
요약문
Abstract
목차
제1장 서론 14
1.1. 연구 배경 14
1.2. 연구 목적 17
제2장 문헌 연구 19
2.1. 입력성형기법 개요 19
2.1.1. ZV(Zero Vibration) 입력성형기 27
2.1.2. ZVD(Zero Vibration Derivative) 입력성형기 30
2.1.3. EI(Extra Insensitive) 입력성형기 32
제3장 시스템의 잔류 진동 감소 방법에 대한 연구 34
3.1. 진동 감소 Motion Profile 코드 작성용 하드웨어 제작 34
3.2. IIoT 기반 잔류 진동 모니터링 하드웨어 제작 36
3.3. Motion Profile Code 생성용 Firmware 개발 39
3.4. Motion Profile Code 생성용 Software 개발 42
3.5. Motion Profile Code 생성용 알고리즘 개발 46
제4장 진동 감소 Motion Profile 적용 실험 장치 구축 58
4.1. 잔류 진동 측정용 실험 장치 58
4.2. IIoT 기반 진동 모니터링 실험 장치 구축 61
제5장 입력성형 Motion Profile Code 적용 실험 66
5.1. 시스템 잔류 진동 측정 66
5.2. 입력성형 Motion Profile Code 생성용 함수 73
5.3. Motion Controller 별 입력 성형 기법 지원 함수 76
5.3.1. 아진엑스텍社 Motion Controller 76
5.3.2. 커미조아社 Motion Controller 77
5.3.3. 델타타우社 Motion Controller 79
5.3.4. 입력성형 Motion Code 함수 구현용 GUI 80
5.4. Motion Profile Code 진동 감소 성능 실험 82
5.4.1. Motion Profile Code 성능 실험 구성 82
5.4.2. Motion Library 적용한 Motion profile 성능 실험 84
제6장 결론 95
참고 문헌 98
Table 2-1. Time, speed, and displacement by interval in the ZV Speed Profile 29
Table 2-2. ZVD Time, speed and displacement by interval in the speed profile 31
Table 3-1. ISO-2372 56
Table 3-2. ISO-2373 56
Table 3-3. Vibration Measurement and Analysis Module Specifications 57
Table 4-1. X-Y-Z Testing Unit Specification 60
Table 4-2. Vibration data communication test program description 65
Table 5-1. Signallink NSVA Specifications 72
Table 5-2. Overview of Code Generator Functions for Vibration... 75
Table 5-3. AjinExtek Motion Controller Parameters 76
Table 5-4. Parameters used for input-shaping operation 78
Fig. 1-1. Example of Vibration Reduction with Input Shaping 16
Fig. 1-2. Industry 3.0 vs Industry 4.0 16
Fig. 1-3. Direction of Smart Sensor Evolution 18
Fig. 1-4. Vibration sensing element specific characteristics 18
Fig. 2-1. One-axis stage experimental equipment 22
Fig. 2-2. Acceleration signal measured in stage and operation 22
Fig. 2-3. Free Vibration signal extraction at static state 23
Fig. 2-4. Frequency spectrum of free vibration 24
Fig. 2-5. 2.28 ㎐ Free vibration 24
Fig. 2-6. Measurement for the calculation of damping ratio 25
Fig. 2-7. Algorithm for the Size and Time of each Peak 25
Fig. 2-8. Principle of Input Shaping Method 26
Fig. 2-9. Application of Input Shaping Method... 26
Fig. 2-10. Speed profile with ZV Input-shape 28
Fig. 2-11. Inputs and Responses before & after ZV Input Shaping Method 28
Fig. 2-12. Response of an error with ZV input shaping method 29
Fig. 2-13. Response of an error with ZV input shaping method 33
Fig. 3-1. Circuit Diagram for Anti-Vibration Hardware 35
Fig. 3-2. Amplifier Block Diagram 38
Fig. 3-3. FPGA firmware screen 38
Fig. 3-4. Code with FIR Filter(newval:... 40
Fig. 3-5. Changed Motion Profile after Applying Input-Shaping in a... 41
Fig. 3-6. Source Code to make Input-Shaping Motion profile Code 41
Fig. 3-7. Remote vibration software screen for signal acquisition... 43
Fig. 3-8. Remote vibration software screen for signal acquisition... 43
Fig. 3-9. Unique frequency real-time measurement screen 44
Fig. 3-10. Based on analysis data, Motion Profile Code generating Screen 44
Fig. 3-11. Vibration Measurement Monitoring Software 45
Fig. 3-12. Experimental Equipment for Vibration Measurement of Rotary Bod 51
Fig. 3-13. 3-axes accelerometer specification 51
Fig. 3-14. Measured rotary acceleration signal 52
Fig. 3-15. Speed signal with noise 52
Fig. 3-16. Frequency spectrum of rotor vibration 52
Fig. 3-17. Noise-removed frequency spectrum 53
Fig. 3-18. Noise-removed speed signal 53
Fig. 3-19. Vibration Evaluation Program GUI 54
Fig. 3-20. Example of evaluating the vibration level of a rotor 54
Fig. 3-21. Experimental device that generates vibrations 55
Fig. 3-22. Developed Amplifier Module 55
Fig. 4-1. X-Y-Z Stage 3D Design 59
Fig. 4-2. X-Y-Z Stage Real Figure 59
Fig. 4-3. Program Main Screen to test Logic of X-Y-Z Stage 60
Fig. 4-4. Vibration Measurement Demo System (Design) 62
Fig. 4-5. Vibration Measurement Demo System (Real Picture) 62
Fig. 4-6. Remote vibration software screen for signal acquisition... 63
Fig. 4-7. Remote vibration software screen for signal acquisition... 63
Fig. 4-8. Vibration measurement data communication status and... 64
Fig. 4-9. Vibration data communication test program screen 64
Fig. 5-1. PCB 333B32 Sensor Specification 68
Fig. 5-2. RMS Comparison of acceleration output at input 7 68
Fig. 5-3. RMS Comparison of acceleration output at input 10 69
Fig. 5-4. RMS Comparison of acceleration output at input 14 69
Fig. 5-5. RMS Comparison of acceleration output at input 16 70
Fig. 5-6. Order Tracking Algorithm 70
Fig. 5-7. Order Tracking Program GUI 71
Fig. 5-8. 1000 ㎐ Single Frequency Data Processing Results 71
Fig. 5-9. Results of processing frequency data over time 72
Fig. 5-10. Speed Profile Variation with Parameter Change 74
Fig. 5-11. Example of Input Shape Operation 78
Fig. 5-12. DeltaTau PVT Mode of Motion controller 79
Fig. 5-13. Output of code by GUI and Morton Controller for function... 81
Fig. 5-14. Configuration of Motion Code Verification Experiment 83
Fig. 5-15. Speed Profile Comparison (Comizoa LX504L) 87
Fig. 5-16. Comizoa Vibration reduction function included in the controller 87
Fig. 5-17. Speed Profile Comparison (DeltaTau UMAC) 88
Fig. 5-18. Speed Profile Comparison (Ajinextek PCI-N404) 88
Fig. 5-19. Comparison of responses before & after... 89
Fig. 5-20. Comparison of Sensitivity Curves with Natural Frequency... 90
Fig. 5-21. Comparison of responses before & after... 91
Fig. 5-22. Comparison of Sensitivity Curves with Natural Frequency... 92
Fig. 5-23. Driving and natural frequency measurement after motion setting 92
Fig. 5-24. After calculating the natural frequency and dampping... 93
Fig. 5-25. IEPE Type Vibration Sensor Input Current and Sampling... 94
Fig. 5-26. Sampling frequency input tolerance range test using... 94
Fig. 6-1. Measurement method of the Input Shaping(Up) & Example... 97