• Journal of Advanced Marine Engineering and Technology
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• 제22권3호
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• pp.320-327
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• 1998

The purpose of this study is to design the intelligent speed control system for marine diesel engine by combining the Model Matching Method and the Nominal Model Tracking Method. Recently for the speed control of a diesel engine some methods using the advanced control techniques such as LQ control Fuzzy control or H$\infty$ control etc. have been reported. However most of speed controllers of a marine diesel engine developed are still using the PID control algorithm But the performance of a marine diesel engine depends highly on the parameter setting of the PID controllers. The authors proposed already a new method to tune efficiently the PID parameters by the Model Mathcing Method typically taking a marine diesel engine as a non-oscillatory second-order system. It was confirmed that the previously proposed method is superior to Ziegler & Nichols's method through simulations under the assumption that the parameters of a diesel engine are exactly known. But actually it is very difficult to find out the exact model of the diesel engine. Therefore when the model and the actual diesel engine are unmatched as an alternative to enhance the speed control characteristics this paper proposes a Model Refernce Adaptive Speed Control system of a diesel engine in which PID control system for the model of a diesel engine is adopted as the nominal model and a Fuzzy controller is adopted as the adaptive controller, And in the nominal model parameters of a diesel engine are adjusted using the Model Matching Method. it is confirmed that the proposed method gives better performance than the case of using only Model Matching Method through the analysis of the characteristics of indicial responses.

• 생물환경조절학회지
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• 제9권4호
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• pp.223-229
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• 2000

식물묘의 생장 및 형태형성 제어용 인공광원으로서 조합광 LED 모듈을 제작하여 조합광 LED모듈의 광전기 특성을 분석하고, 광량자 센서와 분광광도계를 이용하여 LED 모듈로부터 조사된 광량자속에 대한 정량화를 시도하였다. 청색과 적생의 단색광 LED로부터 조사된 광량자속을 광량자센서로 측정한 값과 분광광도계로 측정하여 수치적으로 적분한 값을 qly한 결과 거의 일치하는 것으로 나타났다. 이러한 결과는 광량자센서로서 측정이 불가능한 원적색광 LED로부터의 광량자속 정량화에 분광광도계를 적용될 수 있음을 의미하는 것이다. 적생광에 원적색광을 조사하는 LED스틱의 혼합 비율을 달리한 조합광 LED 모듈의 광량지속은 원적색광을 조사하는 LED 스틱이 증가할수록 조합광 LED의 광량자속이 조금씩 증가하였다. 이러한 결과는 단위에너지당 조사된 광량지수는 파장에 비례해서 증가히기 때문인 것으로 해석된다. 이밖에 적색과 원적색광 LED 스틱의 조합 비율을 달리하였을 때 조합광 LED 모듈의 조도는 비시감도가 매우 낮은 원적색광이 차지하는 비율이 클수록 낮게 나타났다. 한편 적색광과 원적생광의 혼합 정도가 조합광 LED의 복사조도에 미치는 영향은 거의 없는 것으로 나타났다.

• 생물환경조절학회지
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• 제8권3호
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• pp.152-163
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• 1999

온수난방시스템 온실의 디지털 온도제어 수식모형을 수립하고, 이 수식모형을 이용하여 제어시뮬레이션을 실시하여 최적의 온도제어 방법을 구명하였다. 이용된 제어기법은 종래의 온수온도 일정 공급ON-OFF 제어, 비례제어, PI 제어, PID 제어기법이었으며, 시뮬레이션을 이용해 제어기법별 제어성능을 비교 분석하였다. 대상유리온실의 실내온도( T$_{i}$ )에 관한 디지털 제어수식모형은 공급온수온도( T$_{w}$ )와 외기온도( T$_{o}$ )가 관련된 T$_{i}$($textsc{k}$＋1)＝ 0.851.T$_{i}$($textsc{k}$)＋0.055.T$_{w}$($textsc{k}$)＋0.094.T$_{o}$ ($textsc{k}$)로 나타났다. 온실의 실내온도제어 시뮬레이션을 실시한 결과 종래의 온수온도 일정공급 ON-OFF 제어, P 제어, PI 제어,PID 제어의 정정시간, 오버슛트, 정상오차는 각각 무한, 3.5$0^{\circ}C$, 3.5$0^{\circ}C$ / 30분, 2.37$^{\circ}C$, 0.51$^{\circ}C$ / 21분, 0.0$0^{\circ}C$, 0.23$^{\circ}C$ / 18분, 0.0$0^{\circ}C$, 0.23$^{\circ}C$로 나타났으며, 온수난방시스템 온실의 온도제어에 가장 적합한 제어기법은 PI와 PID제어인 것으로 나타났다 또한 미분이득은 온실의 난방계에 거의 영향을 미치지 않지만 적분이득은 큰 영향을 미치는 것으로 나타났다. 나타났다.

• Journal of Welding and Joining
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• 제8권1호
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• pp.23-30
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• 1990

The robotic welding has been adapted positively in many welding shops forthe purpose of improving the welding efficiency and liberating operators from the severe working atmosphere. But for a large-size structure with thick plates like ship-building and every kind of plants manufacturing, the application of the arc welding robots is not established yet. The reason is assumed that the conventional arc welding robots are not adaptive for multi-pass welding of thick plates whose grooves are not so accurate. As one solution to this problem, a guidance system which uses the welding arc itself as a sensor is largely used. In this study the velocity controller which changes the tip to workpiece distance for regulating the weld proposed. The proportional and integral gain of velocity controller were determined by using the computer simulation of the control system, and the simulation results compared with the experimental ones. It was revealed that the developed control system using the arc sensor principle has a good capability of tracking the weld joint, although some more studies will be needed to refine the model of arc current.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.1729_1730
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• 2009

This paper presents comparative experimental results of PI sliding mode control and PI control for a heavy duty robot which can handle an object of 600kg, The gains of the PI control was determined by TAE(Trial and Error) method. This paper presents a novel approach for the decoupling of the states cross-coupling using sliding mode control. The sliding mode control methode is based on the error between reference speeds and the actual speed. The proposed method has the advantages of PI control performance and the sliding mode control robustness. Its first step is to design PI controller, then the sliding mode control input term is added to it. This makes actual implementation of the controller easier. The robot and motion controllers were designed and made by author. The good control performance of the heavy duty robot was obtained by using simple algorithm. This means that the robot was designed very well in control respect.

• 한국자동차공학회논문집
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• 제17권4호
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• pp.86-92
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• 2009

A driver-vehicle model means the integrated dynamic model that is able to estimate the steering wheel angle from the driver's desired path based on the dynamic characteristics of the driver and vehicle. Autonomous driving robot for factory automation has individual four-wheels which are driven by electronic motors. In this paper, the dynamic characteristics of several four-wheel steering systems with the simultaneously steerable front and rear wheels are investigated and compared by means of the driver-vehicle model. A diver-vehicle model is proposed by using the PID control to velocity and trajectory of control autonomous driving robot. To determine the optimum speed of a autonomous driving robot, steady-state circle simulation is carried out with the ADAMS program and MATLAB control model.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.330-333
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• 2003

In this thesis. the application of the synchronizing control of the intelligent indoor lift system is showed. The separate axes of the indoor lift system are driven independently. PID controller, synchronous flexible logic compensating method and tilt sensor are applied to enhance the performance of the intelligent indoor lift system. the tilt sensor senses the horizontal error of the whole system. PID controller and synchronous flexible logic are used to compensate the synchronous errors of both the separate axes and whole system to be zero. Namely, using not the hardware coupling but the software algorithm. the indoor life system is operated without the error. Before applying the real system, the simulation using matlab testifies the possibility of the lift system. And the realization of the system is demonstrated with two DC servo motors. In the experiment test, flexible logic to compensate the synchronous error is chosen by the comparative method. the indoor lift system has to be considered the loading factor as the disturbance. Because the intelligent indoor lift system is developed to support the patients who don't change for themselves to move. finally, the system which considers the weight of the patient as the disturbance can carry the patients safely without synchronous and position error.

• 한국자동차공학회논문집
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• 제14권1호
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• pp.92-99
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• 2006

The swirl ratio of a charge in the cylinder was estimated by calculating the ratio of the rotary speed of charge which could be simulated from the rotary speed of paddle in the swirl measurement apparatus, to the engine speed which could be calculated by measuring intake air flow rate. The automation of the swirl ratio measurement for cylinder head was achieved by controling both valve lift in cylinder head and a suction pressure of surge tank using two step-motors. The number of measurement position for calculating mean swirl ratio was varied by adjusting the interval of valve lift. The mean swirl ratio with varying the number of measurement position showed nearly constant value. Two measurement methods for measuring the swirl ratio were compared, one was to control the suction pressure of the surge tank with PID (proportional, integral, differential) mode with by-pass valve controlled by the step motor and the other did not control the surge tank pressure by fixing the by-pass valve. The difference of the mean swirl ratio between the two measurement methods showed nearly constant value with varying the number of measurement position. This means that the w/o PID control method could be preferred to the PID control method which has been used, due to the simpleness of the swirl measurement.

• 한국공작기계학회논문집
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• 제14권6호
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• pp.88-94
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• 2005

A swirl ratio of a charge in the cylinder could be calculated by measuring both the rotary speed of paddle and the intake air flow rate in the swirl measurement apparatus fur several positions of valve lift. The automation of the swirl ratio measurement for a cylinder head is achieved by controlling both the valve lift of cylinder head and a suction pressure of the surge tank, instead of controlling them manually. PID control of the surge tank pressure and positioning a valve lift of the cylinder head are also achieved by using two step motors, respectively. Rotating speed of a paddle are measured using an optical sensor and a counter. Flow rate are measured from ISA 1932 flow nozzle by reading a differential pressure gauge position using IEEE-1394 camera. Time to measure the swirl ratio for a port in the cylinder head is drastically reduced from an hour to 3 minutes by automation control of the apparatus.

• 신재생에너지
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• 제8권3호
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• pp.14-22
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• 2012

Performance of photovoltaic (PV) generator systems relies on its operating conditions. Maximum power extracted from PV generators depends strongly on solar irradiation, load impedance, and ambient temperature. A most maximum power point tracking (MPPT) algorithm is based on a perturb and observe method and an incremental conductance method. It is well known the latter is better in terms of dynamics and tracking characteristics under condition of rapidly changing solar irradiation. However, in case of digital implementation, the latter has some error for determining a maximum power point. This paper presents a PID based MPPT algorithm for such PV systems. We use neural network technique for determining PID parameters by online learning approach. And we construct a boost converter to regulate the output voltage from PV generator system. Computer simulation is carried out to evaluate the proposed MPPT method and we accomplish comparative study with a perturb and observe based MPPT method to prove its superiority.