• Title/Summary/Keyword: 비례-미분 제어기

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Design of a Drilling Torque Controller in a Machining Center (머시닝센터에서 드릴링 토크 제어기의 설계)

  • 오영탁;권원태;주종남
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2001.04a
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    • pp.513-518
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    • 2001
  • As the machining depth increases, the drilling torque increases and fluctuates and the risk of drill failure also increases. Hence, drilling torque control is very important to prevent the drill from failure. In this study, a PID controller was designed to control the drilling torque in a machining center. The plant including the feed drive system, cutting process, and spindle system was modeled for controller design. The Ziegler-Nichols rule was used to determine the controller gain and control action times. The root locus plot was used to tune the controller gain for a certain cutting condition. Also, suggested was a simple method to obtain the tuned controller gain for an arbitrary cutting condition not using the Ziegler-Nichols rule and root locus plot. The cutting torque control, performance of the designed controller and the effect of gain tuning on the control performance were examined.

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Zero Power Control for an Attraction Type Magnetic Levitation System using Disturbance Observer (흡인식 자기부상 시스템의 외란관측자를 이용한 최소전력 부상제어)

  • Ahn, Joon-Seon;Yu, Sun-Jong;Kim, Sol
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.23 no.12
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    • pp.41-47
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    • 2009
  • In this paper, authors performed improvement of control characteristics of an attraction type magnetic levitation system. The attraction type magnetic levitation system has an inherent instability in the system, therefore its controller must have not only proportional-integral gain but also differential gain additionally. In this paper, authors were proposed control algorithm using disturbance observer(DOB) on feedback signal. The computer simulation and experiments were performed for its verification.

Design of PI observer for descriptor system (디스크립터시스템에 대한 PI 관측기 설계)

  • Kim, Hwan-Seong;Kim, Sang-Bong;Kawaji, Shigeyasu
    • Journal of Institute of Control, Robotics and Systems
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    • v.3 no.4
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    • pp.332-337
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    • 1997
  • 디스크립터(Descriptor) 표현은 상태공간 표현을 확장시킨 일반적인 시스템의 기술방법으로 파라미터의 물리적인 구조를 보존하고 있으며, 임펄스를 포함한 현상을 기술할 수 있다. 또한, 대규모 시스템의 모델화가 용이하며, 프로퍼(Proper)이지 않은 시스템을 기술할 수 있고 구속조건을 가진 동적시스템의 기술이 가능하는 등의 특징을 지니고 있다. 그러나, 디스크립터 시스템의 해는 미분항을 포함하고 있으므로 노이즈 및 파라미터 변동에 대해서 매우 민감하여, 관측기설계시 강인(Robust)한 관측기설계가 요구된다. 본 논문에서는 디스크립터 시스템에 대해 로바스트 관측기의 일종인 비례적분(PI) 관측기의 설계에 대해서 논한다. 먼저, 디스크립터 시스템에 대한 PI 관측기의 존재조건을 유도하였으며, 체계적인 설계법을 보였다. 또한, PI 관측기의 존재조건이 Rosenbrock의 가관측 조건하에서 간단히 보여지며, 이것은 시스템 행렬의 Rank 조건에 의해 쉽게 구해질 수 있다.

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Linearized Modeling and Variable Position Control of Magnetic Levitator Using DSP (선형화 기법을 사용한 자기부유기 모델링과 DSP기반 가변 위치 제어)

  • 김정재;송승호
    • The Transactions of the Korean Institute of Power Electronics
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    • v.9 no.2
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    • pp.158-162
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    • 2004
  • The magnetic levitator is the device which can float a magnetic material at the midair by electromagnetic force and it's principle can be applied to the high speed magnetic bearing or magnetic levitation train. There are many difficulties to control, because the magnetic levitator is basically a nonlinear and unstable system. In this paper, this system is modeled assuming that it is a linear system nearby an operating point, and a proportional and derivative(PD) position controller is designed to carry out the variable position control. The performance of position control response is shown through simulation and experiment. A prototype magnetic levitator is constructed using PWM converter and DSP(Digital Signal Processor) based control board.

Position Control of Hydraulic Motor-Load System using Matlab (Matlab을 이용한 유압모터-부하계의 위치제어)

  • 이명호;박형배
    • Transactions of the Korean Society of Machine Tool Engineers
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    • v.13 no.3
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    • pp.76-83
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    • 2004
  • The purpose of this paper is to find an effective control system for a hydraulic motor-load system using matlab. The Hydraulic control system consists of a hydraulic pump, a hydraulic proportional control valve, hydraulic pipelines, a hydraulic motor and a load system. The simulation models were verified by comparing the simulation results with measured data from the real hydraulic proportional position control system. In order to compensate the nonlinear friction characteristics in a hydraulic motor-load system, a discrete time PD controller and Friction torque observer has been applied.

Microcomputer-Based Velocity Control for an Electro-Hydraulic Servo System (마이크로컴퓨터에 의한 전기 유압 서보 시스템의 속도제어)

  • 장효환;안병천;김영준
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.12 no.2
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    • pp.221-230
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    • 1988
  • In the microcomputer-based velocity control for an electro-hydraulic servo system, the effects of control methods and control hardware on the performance of the system were investigated. Experiments were carried out with PID and deadbeat controllers using 8 or 16 bit microprocessor and 8 or 12 bit A/D and D/A converters. It is found that the transient response of the system is better with PID controller than with deadbeat controller. When the number of bits of the microprocessor and converters are small, it is also found that amplitude quantization due to limited word-length gives significant effects on transient responses of the system. Analytically predicted step responses are in good agreement with experimental ones.

Trajectoroy control for a Robot Manipulator by Using Multilayer Neural Network (다층 신경회로망을 사용한 로봇 매니퓰레이터의 궤적제어)

  • 안덕환;이상효
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.16 no.11
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    • pp.1186-1193
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    • 1991
  • This paper proposed a trajectory controlmethod for a robot manipulator by using neural networks. The total torque for a manipulator is a sum of the linear feedback controller torque and the neural network feedfoward controller torque. The proposed neural network is a multilayer neural network with time delay elements, and learns the inverse dynamics of manipulator by means of PD(propotional denvative)controller error torque. The error backpropagation (BP) learning neural network controller does not directly require manipulator dynamics information. Instead, it learns the information by training and stores the information and connection weights. The control effects of the proposed system are verified by computer simulation.

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Speed Control of a Diesel Engine by Means of the Model Matching Method (모델 맷칭법에 의한 디젤기관의 속도제어)

  • 유희환;하주식
    • Journal of Advanced Marine Engineering and Technology
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    • v.20 no.3
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    • pp.131-137
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    • 1996
  • The existing digital governors are in the beginning stage. Placing the focus on the marine site, most of the digital governors developed are still using the simple PID algorithm. But, the performance of a diesel engine is widely changed according to the parameters of the PID controller. So, this article describes a new method to adjust the parameters of the PID controller in a marine digital governor. In this paper, the diesel engine is considered as a nonoscillatory second order system. A new method to adjust the parameters of the PID controller for speed control of a diesel engine is proposed by means of the model matching method. Also, the simulations by numerical methods are carried out in cases of the exact understanding or out of the parameters of a diesel engine respectively. And this paper confirms that the proposed new method here is superior to Ziegler & Nichols's method through the comparisons and analysis of the characteristics of indicial responses.

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Comparative Study of Performance of Switching Control and Synchronous Notch Filter Control for Active Magnetic Bearings (능동 자기 베어링을 위한 동기 노치필터 제어기와 스위칭 제어기의 성능 비교 연구)

  • Yoo, Seong Yeol;Noh, Myounggyu
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.37 no.4
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    • pp.511-519
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    • 2013
  • Switching controllers for active magnetic bearings are claimed to minimize the copper losses because they do not use bias currents. In this study, we compare the performances of the switching controller with those of the widely used proportional-derivative (PD) controller. The PD controller is combined with a synchronous notch filter to reduce the effect of the unbalance disturbance. For a fair and objective comparison, the PD controller is designed systematically. The switching controller is designed so that the dynamics of the two controllers are almost identical. A system model is developed. This model includes the flexible modes of the rotor and the dynamics of the sensors and amplifiers. The simulation results show that the switching controller indeed reduces the copper loss at lower speeds. However, it fails to operate around the speed close to the bending mode of the rotor.

Cutting Torque Control in Drilling Part 1 : Design of a Cutting Torque Controller (드릴 공정시 절삭 토크 제어 제 1 편 : 절삭 토크 제어기의 설계)

  • O, Yeong-Tak;Gwon, Won-Tae;Ju, Jong-Nam
    • Journal of the Korean Society for Precision Engineering
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    • v.18 no.8
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    • pp.96-106
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    • 2001
  • As the drilling depth increases, the cutting torque increases and fluctuates, which can lead to the machine tool vibration, severe tool wear, and catastrophic tool breakage. Hence, cutting torque control is very important to improve productivity in drilling. In this paper, a PID controller was designed to control the drilling torque. The plant including the feed drive system, cutting process and spindle drive system was modeled for controller design. The Ziegler-Nichols method was used to determine the controller gain and control action times and the root locus plot was used to tune the controller gain for a certain cutting condition. Also, suggested was a simple method to obtain the tuned controller gain for an arbitrary cutting condition not using the Ziegler-Nichols method and the root locus plot. The performance of the designed controller and the effect of controller gain tuning were verified from experiments.

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