• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.10
• /
• pp.1619-1625
• /
• 1997

This paper concerns a 2-axis PR type pneumatic manipulator system translating in vertical and rotating in horizontal directions. A simplified linear model is mathematically formulated similar to the pneumatic acturators in dynamic responses in order to devise an appropriate position control scheme. A PD controller preceding the on/off solenoid valve turns out not only economical but also effective in reducing rise time and amplitude of limit cycles, if its control gains are determined on the basis of frequency response. And, additional implementation of symmetric or asymmetric deadband at the PD controller output greatly helps minimize valve opening numbers, positional error, and undesirable direction-dependent property due to the gravitational load. Such a control concept is synthesized through numerical simulations and next applied to the experimental set-up, featuring enhanced positional servo characteristics.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.647-651
• /
• 1992

This paper presents a model-based control scheme for a robot manipulator to track a desired trajectory as closely as possible in spite of a wide range of manipulator motions and parameter uncertainties of links and payload. The scheme has two components: a nominal control and a variational control. The nominal control, generated from direct calculation of the manipulator dynamics along a desired trajectory, drives the manipulator to a neighborhood of the trajectory. Then a discrete-time PID regulator is designed based on the linearized dynamic model and Linear Quadratic(LQ) method, which generates the variational control that regulates perturbations in the vicinity of the desired trajectory.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.4
• /
• pp.332-337
• /
• 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.

• Journal of Power System Engineering
• /
• v.14 no.1
• /
• pp.65-70
• /
• 2010

Magnetic levitation system is nonlinear and inherently unstable, so it is difficult to control. Analog control circuit was widly used as the controller of magnetic levitation system, but digital controller is now substituted for analog controller according to development of digital electronics. In this study, Atmel AVR series, ATmega 128 which is a kind of $\mu$-processor for digital controller is used because the chip is cheap and popular. We designed and made ATmega 128 one-board controller and aimed to verify validity through the experiance of levitation response.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.12 no.5
• /
• pp.527-534
• /
• 1987

Two phase voltage controlled oscillation was realized by using the Electronic analog simulation of nonlinear simultaneous 2st order equation in terms of vibration and it's usefullness was sustined. Sinde it is complex and expensive to implement the circuits actually which composits and multiplicate the two phase signal squared respectively, this paper is obtained the simplificotion and switching circuit. The circuit introducced in this paper had propotionality of frequency to control input voltage, rapid response time, and little phase error, also this circuit operated with very low THD(Total Harmonic Distortion) and constant amplitude at higher than 10 :1 of frequency ratio.

• Journal of Advanced Marine Engineering and Technology
• /
• v.20 no.3
• /
• pp.131-137
• /
• 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.

• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.99-104
• /
• 2001

Discrete-time controller design is proposed using feedback system identification in frequency domain. System Stability imposed by a new controller is checked in the function of a conventional closed-loop system, instead of a poorly modeled plant due to non-linearity and disturbance as well as unstable components, etc. The stability of the system is evaluated in view of Popov criterion. All the equations are formulated in the framework of the discrete-time system. Simulation results are shown on the plant with input saturation components, DC disturbance and a pure integration.

• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.664-669
• /
• 2001

Continuous-time controller design is proposed using feedback system identification in frequency domain. System stability imposed by a new controller is checked in the function of a conventional closed-loop system, instead of a poorly modeled plant due to non-linearity and disturbance as well as unstable components, etc. The stability of the system is evaluated in view of Nyquist stability. All the equations are formulated in the framework of the discrete-time system. Simulation results are shown on the plant with input saturation and DC disturbance.

• Proceedings of the KIPE Conference
• /
• 2007.07a
• /
• pp.123-125
• /
• 2007

포항가속기연구소가 추진 중인 제4세대 방사광가속기에는 100 PPM급의 클라이스트론 펄스전압 안정도가 요구된다. 이러한 안정도는 PFN(pulse forming network)에 충전되는 전압을 얼마나 정밀하게 제어하는가에 따라서 결정된다. PFN의 최종운전 전압은 deQing circuit에 triggering되는 시점에 따라서 결정된다. DeQing trigger system은 PFN의 충전전압과 기준전압을 비교하여 충전전압이 기준전압보다 커지는 시점에서 charging choke(충전 쵸크)의 2차에 구성된 deQing 회로의 SCR를 트리거 시켜서 충전 쵸크 1차와 2차의 권선비율이 25:1인 충전 쵸크의 2차를 단락시켜 1차에 흐르는 전류를 2차로 빼주어서 PFN 커패시터에 더 이상 충전되지 않게 하는 구조로 되어있다. DeQing circuit에 triggering되는 시점을 정밀하게 제어하기 위하여 PFN 충전전압을 미분하여 그 출력전압에 비례하여 트리거 출력을 지연시키는 기능과 analog 신호를 digital 신호로 변환하는 기능을 사용하였다. 이 논문에서는 deQing 시스템에 관련된 회로 및 시험결과에 대하여 설명하고자 한다.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.12 no.2
• /
• pp.221-230
• /
• 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.