• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.153-156
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• 2000

This paper presents an PID type fuzzy based method for nohnear engine idle controller The output is a duty cycle(DC) for driving a idle speed cont개l valve(1SCV). For precise control of SI engine, the CPS sensor and coolant temperature are used. Visual C* language is used to make simulation panel for the fast and precise idle speed control. The dSPACE board and supported Control desk program is used in experiment ta the same purpose as simulation. The experimental results have a good agreement with simulation ones.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.61-66
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• 1997

로보트 매니퓰레이터가 일정한 접촉 힘을 유지하며 공작물의 표면을 따라가게 하는 작업은 많은 자동화 생산공정에서 유용하게 이용될 수 있다. 일반적인 위치제어용 산업용 로보트를 이러한 공정에 사용하기 위해서는 접촉힘이 계측되어 로보트의 제어에 이용되어야만 한다. 이 연구는 accommodation force control 방식으로 산업용 로보트를 제어하여 edge-following에 응용하도록하며, 접촉 힘의 계측에는 wrist force sensor를 사용한다. 이 시스템의 궤도추적속도와 force regulation 등이 예견제어에 의해 향상될 수 있다. 예견제어에 의해 설계된 전체 제어 시스템은 feedback 제어기와 feedforward 예견제어기로 구성된다. 여기서, 시스템의 안정성은 feedback 제어기에 의해서 결정되며, 예견제어기는 시스템에 미치는 외란을 통제하는 것을 주 기능으로 한다. 일반적으로 선형제어 방식을 채택한 경우와 예견제어를 이용한 edge-following을 실험을 통해 비교함으로써, 예견제어의 효용성을 확인한다.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.9
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• pp.36-46
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• 1994

A analog disturbance observer, which is suitable for servo motor drive, was employed to suppressi control of the impact drop disturbance. The main advantage of the observer is that a fast response disturbance estimation is obtained using the detected motor cuttent and speed. And the new M/T method for motor speed detection is proposed. The method should be able to reduce the detection dead time compared with the Ohmae's M/T method. Also, the low speed control of a servo motor using instantaneous speed detection method is described. To estimate the instantaneous speed from the average speed, the speed estimator of the first order is proposed. Actually we confirmed that these methods improve the speed control performance of the servo system with experiments.

• Journal of Sensor Science and Technology
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• v.5 no.4
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• pp.47-56
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• 1996

The basic principle and characteristics of a DTG(dynamically tuned gyroscope) are presented in this paper, which is used for the detection of disturbance and for the stabilization of gimbal. An accurate model of the rate mode DTG is proposed. This model has a resonance characteristics which is more similar to the characteristics of practical systems than the conventional 2nd order system model. Therefore, this model is applicable to the general rate mode gyroscope. Some problems at using DTG for a real electro optical tracking system are discussed and a solution is described.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1509-1510
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• 2008

In this paper, we propose a robust adaptive controller for induction motors with uncertainties using nonlinear disturbance observer(NDO). The proposed NDO is applied to estimate the time varying lumped uncertainty which are derived from unknown motor parameters and load torque, but NDO error does not converge to zero since the derivate of lumped uncertainty is not zero. Then the high order neural networks(HONN) is presented to estimate the NDO error such that the rotor speed to converge to a small neighborhood of the desired trajectory. Rotor flux and inverse time constant are estimated by the sliding mode adaptive flux observer. Simulation results are provided to verify the effectiveness of the proposed approach.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.12
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• pp.89-95
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• 2003

A PID controller integrated with a velocity feedback is designed for fluid power elevator model system in this study. In this case, for outside disturbance load a hydraulic cylinder and a pressure control valve are used. In this method overshoot is reduced and settling time becomes also shorter than the values achieved from the PID controller system only In conclusion a PID controller integrated with a velocity feedback is considered a suitable control method for fluid power elevator system.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.55 no.4
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• pp.402-410
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• 2019

This paper deals with the disturbance observer (DOB) based sliding mode control (SMC) for a DC motor to control motor rotating speed precisely and to ensure strong robustness against disturbance including load torque and parameter variation. The reason of steady state error in speed on conventional SMC without DOB is analyzed in detail. Especially, the suggested DOB is designed to prevent measuring noise and harmonics caused by derivative operation on rotating speed. The control performance of the DOB based SMC is evaluated by the various simulations. The simulation results showed that the DOB based SMC had more robust performance than the SMC system without DOB. Especially, precise speed control was possible even though motor parameter variation and load torque was added to the system.

• Journal of the Semiconductor & Display Technology
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• v.11 no.3
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• pp.13-18
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• 2012

This paper presents a velocity disturbance estimation system for the stable fine seek control using a genetic algorithm. To estimate accurately the velocity disturbance in spite of the uncertainties of fine actuator, the system utilizes an objective function to minimize the differences of the frequency characteristics between the nominal velocity control loop and the extremal velocity control loops. The objective function is considered by applying a genetic algorithm and the velocity disturbance is estimated by the measurable velocity, the adjusted velocity controller, and the fine actuator model. The proposed velocity disturbance estimation system is applied to the fine seek control system of a DVD recording device and is evaluated through the experimental results.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.236-243
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• 1998

퍼지 제어기는 유도전동기에 대한 정확한 수학적 모델링의 과정 없이 IF-THEN 규칙으로 제어하는 비선형 제어기로서 과도 응답 특성과 외란에 대한 강인성 면에서 고전 제어 방식보다 우수한 성능을 보여준다. 그러나 입출력 변수의 공간을 균등하게 나누고 일정한 형태의 삼각형 멤버쉽 함수를 이용한 퍼지 제어기는 한정된 성능 이상을 기대할 수없다. 다라서 퍼지 제어기의 성능을 항상시키기 위해서는 멤버쉽 함수의 폭과 위치를 조정하는 것이 필요하다. 본 연구에서는 퍼지 제어기의 각 변수에 할당된 삼각형 멤버쉽 함수의 폭을 유도 전동기의 광범위한 속도에서의 과도 응답 상태에 EK랄 rkqustlzladmfhTJ 유도 전동기의 성능을 향상시키는 방법에 대해 연구하였다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.15 no.3
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• pp.213-220
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• 1990

DC servo motor has been often used as the position control system, because the performance is excellent on the velocity and position control system. When the unknow disturbance and accessible load torque are imposed on the position control of DC servo motor, this system has the steady and/or transient state error. In this paper, a new method which has high stiffness for reducing the error is proposed. This error will be reduced by acceleration control. The effectiveness of the acceleration control is confirmed by using computer simulation.