이동 로봇의 퍼지 재점착 제어기 설계

Design of a Fuzzy Re-adhesion Controller for Wheeled Robot

  • 권선구 (인하대학교 전기공학과) ;
  • 허욱렬 (인하대학교 전자전기공학부) ;
  • 김진환 (인하공업전문대학 전기정보과학과)
  • 발행 : 2005.01.01

초록

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm adjusts the driving torque for restraining re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy, These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

키워드

참고문헌

  1. Nakju Doh, et al., 'Accurate Relative Localization Using Odometry Error Model', in Proceeding of the IEEE International Conference on Robotics and Automation, vol. 2, pp. 1606-1612, 2003
  2. J. Borenstein and L. Feng, 'Measurement and correction of systematic odometry errors in mobile robots', IEEE Trans. on Robotics and Automation, vol. 12, pp. 869-880, 1997 https://doi.org/10.1109/70.544770
  3. S. Senini, F. Flinders, and W. Oghanna, 'Dynamic simulation of wheel-rail interaction for locomotive traction studies', in Proceeding of the IEEE/ASME Joint Railroad Conference, pp. 27-34, 1993 https://doi.org/10.1109/RRCON.1993.292967
  4. K. Ohishi, Y. Ogawa, I. Miyashita, and S. Yasukawa, 'Adhesion control of electric motor coach based on force control using disturbance observer', in Proceeding of the Advanced Motion Control, pp. 323-328, 2000 https://doi.org/10.1109/AMC.2000.862884
  5. R. Pusca, Y. Ait-Amirat, A. Berthon, and J. M. Kauffman, 'Fuzzy logic based control for electric vehicle with four separate traction drives', in Proceeding of the Vehicular Technology Conference, vol. 4, pp. 2089-2096, 2002 https://doi.org/10.1109/VTC.2002.1002991
  6. 서광덕, '견인능력 향상을 위한 추정점착력을 이용한 점착제어기법에 관한 연구', 대한전기학회 논문지, 제48B권, 12호, pp. 709-714, 1999
  7. 김우석 외, '최대점착력 추정을 이용한 철도차량의 재점착 제어 성능 개선', 대한전기학회 논문지, 제49B권, 1호, pp. 32-39, 2000
  8. 황돈하 외, '유도 전동기 병렬 제어형 고속전철 추진시스템의 혼합형 재점착 제어기법', 대한전기학회 논문지, 제51B권, 1호, 2002
  9. H. Miki, et al., 'New AC traction drive system with transistor VVVF inverter', in Proceeding of the Industry Applications Society Annual Meeting, vol. 1, pp. 291-297, 1991 https://doi.org/10.1109/IAS.1991.178169
  10. S. Kadowaki, et al., 'Re-adhesion control of electric motor coach based on disturbance observer and sensor-less vector control', in Proceeding of the Power Conversion Conference, vol. 3, pp. 1020-1025, 2002 https://doi.org/10.1109/PCC.2002.998112
  11. 장욱, 주영훈, 박진배, 'TS 퍼지 모델을 이용한 최적제어기 설계 및 비선형 시스템에의 응용', 대한전기학회 논문지, 제49D권, pp. 68-73, 2000
  12. W. Pedrycz, 'An identification algorithms in fuzzy relational systems', Fuzzy Sets and Systems, vol. 13, pp. 153-167, 1984 https://doi.org/10.1016/0165-0114(84)90015-0
  13. Y. Matsumoto, et al., 'Novel re-adhesion control for train traction system of The 'Shinkansen' with the estimation of wheel to-rail adhesive force', in Proceeding of the IECON, vol. 2, pp. 1207-1212, 2001 https://doi.org/10.1109/IECON.2001.975954
  14. H. Sado et al., 'Road condition estimation for traction control in electric vehicle', in Proceeding of the IEEE International Symposium on Industrial Electronics, vol. 2, pp. 973-978, 1999 https://doi.org/10.1109/ISIE.1999.798747
  15. 이홍균, 이정철, 김종관, 정동화, '퍼지-ANN 제어기를 이용한 유도전동기의 속도 추정 및 제어', 대한전기학회 논문지, 제53D권, pp. 545-550, 2004
  16. K. M. Passino and S. Yurkovich, Fuzzy Control, Addison-Wesley, 1998
  17. M. Sugeno and T. Yasukawa, 'A fuzzy-logic-based approach to qualitative modeling', IEEE Trans. Fuzzy Syst., Vol. I, No.1, pp. 7-31, 1993 https://doi.org/10.1109/TFUZZ.1993.390281
  18. T. Takagi and M. Sugeno, 'Fuzzy identification of systems and its applications to modeling and control', IEEE Trans. on Sys., Man, and Cyber., vol. 15, No. 1, pp. 116-132, 1985
  19. 김승석, 김성수, 유정웅, '새로운 클러스터링 알고리듬을 적용한 향상된 뉴로-퍼지 모델링', 대한전기학회 논문지, 제53D권, pp. 536-543, 2004
  20. 엄광식, 서일홍, '외란 관측기에 기반을 둔 힘 추정기설계', 대한전기학회 논문지, 제48A권, pp. 1140-1146, 1999