• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.2 no.3
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• pp.103-108
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• 2009

Robust control for DC motor is needed according to the highest precision of industrial automation. However, when a motor control system with PID controller has an effect of load disturbance, it is very difficult to guarantee the robustness of control system. In this paper, PID-Expert hybrid control method for motor control system as a compensation method solving this problem is presented. If PID control system is stable, the Expert controller is idle. if the error hits the boundary of the constraint, the Expert controller begins operation to force the error back to the constraint set. The disturbance effect decrease remarkably, robust speed control of DC motor using PID-Expert Hybrid controller is demonstrated by the simulation.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.221-222
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• 2007

본 논문에서는 초정밀 위치 결정 시스템에서 보다 정확한 제어를 위한 새로운 제어기를 설계한다. 외란을 고려한 시스템의 경우, 환경이 달라질 때마다 측정 노이즈를 정확하게 알아내기란 쉽지 않다. 따라서 측정 장치의 정확성을 나타낼 수 있도록 칼만 필터추정기와 퍼지 이론을 이용하여 정확한 측정 오차값을 구한다. 이때, 파라미터 불확실성과 의란에 강인한 제어를 위해 슬라이딩 모드 제어기와 LQ 최적 제어기가 적용된다. 최종적으로, 제안된 제어기와 시간 최적 제어기의 성능비교를 통하여 보다 강인하고 안정된 성능개선을 증명한다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.5
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• pp.198-202
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• 2004

This thesis proposes a robust controller introducing the H$_{\infty}$ control theory, one of the robust control theories that can obtain desired control performance while ensuring robustness for the uncertainty and disturbance contained in the power system. The performance of the designed controller is examined by extensive non-linear time domain simulation. Results show that the proposed H$_{\infty}$ controller is superior to that of the conventional controller.

• Journal of Ocean Engineering and Technology
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• v.11 no.3
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• pp.180-190
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• 1997

잠수함이 저심도 조건에서 특수임무 수행시, 표면파도 및 조류등 외란의 영향하에서 요구심도 및 위치 유지를 위한 강인한 자동항법장치 설계는, 첨단 군용 잠수함 개발에 필수적이다. 본 연구는 잠수함 조종 운동역학계에 기초하여, 정확한 심도 및 피치 운동 제어를 위해 선형 행렬 부등식을 이용한 혼합 $H_2/H_{\infty}$ 설계법을 사용, 다중 목적 함수로 표현된 잠수함의 조종성능들을 개선하였다. 또한, 제어기 설계법의 타당성을 수치 시뮬레이션을 통하여 검증하였다. 결과적으로 본 제어법은 각종 외란 및 계의 불확실성하에서 잠수정의 만족스러운 과도 상태 응답과 일정 심도 유지 및 피치 각도 변동 최소화에 적합한 강인한 방법임이 검증되었다.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2874-2876
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• 2000

본 연구에서는 [1]에서 제안된 알고리즘을 마찰력이 존재하는 로봇 매니퓰레이터에 적용하여 위치제어를 수행하였다. 제안된 제어 알고리즘은 로봇의 위치 정보만을 이용하는 반복적 제어구조를 가지고 있다. 또한 제어기 설계 시, 로봇의 파라미터를 이용하지 않기 때문에 파라미터 불확실성이 있는 시스템에 강인한 특징을 보인다. 제안된 제어기의 성능을 검증하기 위하여.마찰력이 존재하는 2축 SCARA형 로봇에 적용하여 시뮬레이션 수행하였다

• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.2
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• pp.131-136
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• 2006

This paper described a robust control of an induction motor using a disturbance cancellation observer of a feedforward control with Matlab simulink. The speed response of conventional PI controller characteristics is affected by variation of load torque disturbance. In this system, the speed control characteristics using a feedforward control toughen about a load torque disturbance.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.16 no.6
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• pp.30-39
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• 2002

This paper deals with the design of a robust LQC/LTR (Linear Quadratic Gaussian with Loop Transfer Recovery) controller of the TCSC for the power system oscillation damping enhancement. Designing LQG/LTR controller involves several design parameter adjustment processes for performance improvement. this paper proposes a systematic design parameter adjustment procedure which is suitable for robust multi-monde stabilization. The designed controller is verified by nonlinear power system simulation, which shows that the controller is effective for damping power system oscillations.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.6
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• pp.511-518
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• 2013

To implement an automatic picking system (APS) in distribution center with high precision and high dynamics, this paper presents a design of a linear induction motor (LIM) drive and robust position controller based on integral variable structure control (IVSC) scheme. The force disturbance as well as the mechanical parameter variation such as the mass and friction coefficient gives a direct influence on the position control performance of APS. To guarantee a robust control performance in the presence of such uncertainty, a robust position controller is designed. A Simulink library is developed for the LIM model from the state equation. Through this model and comparative simulation based on Matlab - Simulink, it is proved that the proposed scheme has a robust control nature and is most suitable for APS.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.1
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• pp.85-89
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• 2004

Robust control for feedback control system is needed according to the highest precision of industrial automation. However, when a neural network feedback control system has an effect of disturbance, it is very difficult to guarantee the robustness of control system. As a compensation method solving this problem, in this paper, hybrid control method of neural network controller and PID controller is presented. A neural network controller is operated as a main controller, a PID controller is a assistant controller which operates only when some undesirable phenomena occur, e.q., when the error hit the boundary of constraint set. The robust control function of neural network-PID hybrid controller is demonstrated by speed control of Motor.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.6
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• pp.531-536
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• 2002

This paper investigates the problem of the speed controller of conventional speed sensorless stator flux-oriented(SFO) induction motor drive, and proposes a robust speed controller to solve the conventional problem. In the proposed method, a robust speed controller for speed sensorless SFO system Is designed by taking advantage of disturbance torque observer and using feedforward.