• Journal of Advanced Marine Engineering and Technology
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• v.31 no.4
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• pp.448-454
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• 2007

The new tuning rules of the PID controller for the rejection of load disturbance are proposed incorporating with real-coded genetic algorithms (RCGAs). The optimal gain parameters of the PID controller for a first-order plus time delay model are obtained based on a RCGA. Then tuning formula are derived using the tuned parameters sets potential tuning rule models and another RCGA. The performance criteria of the controller are adopted as ISE, IAE and ITAE. A series of simulation are carried out to verify the effectiveness of the proposed tuning rules.

• The Bulletin of The Korean Astronomical Society
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• v.37 no.2
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• pp.230.1-230.1
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• 2012

본 논문에서는 대구경 광학탑재체의 조립, 정렬 및 시험에 사용되는 고정밀, 고안정 짐발장치의 개발에 대해서 소개하고자 한다. 광학탑재체의 광학시험을 위해 사용되는 짐발장치는 광축높이를 유지하기 위해서 높이조절이 가능해야하고, 조립과정과 광학시험과정 그리고 시험 후 광학탑재체를 짐발 장치로부터 분리하기 위해 수평상태와 수직상태로의 회전이 가능해야 한다. 광학측정 시험과정 중에 결상위치의 미세한 조절을 위해 광학탑재체를 수평상태에서 상하좌우 정밀한 회전이 가능해야한다. 우주궤도환경 하에서 성능측정을 위해 열진공체임버 안에서의 광학시험이 필요하므로 짐발장치를 구성하는 재질은 모두 진공사용이 적합한 것이어야 한다. 광학측정 중에 측정설비주변에서부터 인가된 외란은 광학시험과 같은 민감한 시험에서는 철저하게 제거되어야 하는데, 이와 관련하여 짐발장치의 광학측정시험형상에서의 고유진동수와 같은 동적 특성도 설계과정에 반영하여 안정적인 측정 장치가 되도록 고려되어야 한다.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.3
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• pp.247-255
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• 1989

This paper proposes an error model with integral action and a pole-place-ment self-tuning controller for robot manipulators in task coordinates. The controller can reject the offset due to any load disturbance without a detailed description of the robot dynamics. The error model parameters are estimated by the recursive least square identification algorithms, and controller parameters are determined by the pole-placement method. A computer simulation study has been conducted to demonstrate the performance of the proposed control system in task coordinates for a 3-joint and 2-link spatial robot manipulator with payload.

• Transactions of the Society of Information Storage Systems
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• v.3 no.4
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• pp.167-172
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• 2007

The recently-developed off-line learning control approaches for the rejection of periodic disturbances utilize the specific property that the learning system tends to oscillate in steady state. Unfortunately, the prior works have not clarified how closely the learning system should approach the steady state to achieve the rejection of periodic disturbances to satisfactory level. In this paper, we address this issue extensively for the class of linear systems. We also attempt to remove the effect of other aperiodic disturbances on the rejection of the periodic disturbances effectively. In fact, the proposed learning control algorithm can provide very fast convergence performance in the presence of aperiodic disturbance. The effectiveness and practicality of our work is demonstrated through mathematical performance analysis as well as various simulation results.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.443-448
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• 2000

In this paper, we propose a novel adaptive feedforward controller for periodic disturbance and noise cancellation, with a frequency tracking capability. It can be added to an existing feedback control system without altering the original closed-loop characteristics, which is based on adaptive algorithm. We introduce novel algorithm "Constrained AFC(adaptive feedforward controller) algorithm" that increase the convergence region regardless of the delay in the closed loop system. In the algorithms, coefficients of the controller are adapted using the residuals of constrained structure which are defined in such a way that the coefficients become time invariant. The proposed algorithm not only estimate the magnitude and phase of the tonal disturbance and noise but also track the frequency of the tone, which changes in quasi-static manner. The frequency tracking algorithm uses the instantaneous frequency approach based on Hilbert transform. A number of computer simulations have been carried out in order to demonstrate the effectiveness of proposed method under various conditions.

• Journal of IKEEE
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• v.9 no.2 s.17
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• pp.87-100
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• 2005

In this paper, a design of an integral augmented optimal variable structure system(IOVSS) is presented for the prescribed output control of uncertain SISO systems under persistent disturbances. This algorithm aims at removing the problems of the reaching phase by incorporating advanced optimal control theory. By means of an integral sliding surface, the reaching phase is completely removed, and the integral sliding surface can be defined from a given initial state to origin without any reaching phase. The ideal sliding dynamics of the integral sliding surface is obtained in the form of the state equation and is designed in an optimal sense by targeting the design of the integral sliding surface and equivalent control input. The corresponding control input is selected in order to generate the sliding mode on the predetermined integral sliding surface. As a result, the whole sliding output from a given initial state to origin is completely guaranteed against persistent disturbances. Moreover the prediction/predetermination of output is enabled, which helps in improving the performance over previously implemented VSS's. Through an illustrative example, the usefulness of the algorithm is shown.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.2
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• pp.349-356
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• 2018

In this study, the synchronous control system is designed to restrain the speed difference generated between two propellers, namely, synchronous error in a dual electric propulsion system of unmanned surface vehicle, fish finder boat, etc. The control system based on coupling structure is composed of pre-filters and speed controllers for each propulsion system and a synchronous controller cross-coupled between two propulsion systems. The pre-filter and speed controller are designed in order that the propulsion system may follow the speed reference without overshoot and input saturation. And the synchronous controller is designed in consideration of damping and quickness of the synchronous controller system after analyzing effect of the skew disturbance and mismatched dynamic characteristics on synchronous error. Finally, the simulation results show that the designed control system is effective for elimination of synchronous error.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.1
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• pp.33-38
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• 2002

In this paper, a Two-Degree-of-Freedom-Controller(TDFC) for DC motors based on inverse dynamics and the fuzzy technique is presented. The proposed controller includes the inverse dynamic model of a DC motor system, a prefilter and a fuzzy compensator. The model of the system is characterized by a nonlinear equation with coulomb friction. The prefilter eliminates high frequency effects occurring when the inverse dynamic model is implemented. The fuzzy compensator is designed for tracking the change of the reference input and simultaneously regulating the error between the reference input and the system output which can be caused by disturbances. The optimal parameters of both the model and the compensator are identified by a real-coded genetic algorithm. An experimental work on a DC motor system is carried out to verify the performance of the proposed controller.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.3
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• pp.369-374
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• 2010

Linear motors are easily affected by load disturbances, force ripples, friction, and parameter variations because there are no mechanical transmissions that can reduce the effects of model uncertainties and external disturbance. In this study, a nonlinear adaptive controller to achieve high-speed/high-accuracy position control of a two-axis linear motor is designed. The operation of this controller is based on a cross-coupling algorithm. Nonlinear effects such as friction and force ripples are estimated and compensated for. An enhanced cross-coupling algorithm is proposed for effectively improving the biaxial contour accuracy while achieving closed-loop stability. The proposed controller is evaluated by performing computer simulations.

• Journal of the Institute of Convergence Signal Processing
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• v.4 no.4
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• pp.1-6
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• 2003

In this Paper, the moving image is detected by a collision preventive system. The noise of these images is reduced by a mean filter. In case of detecting a movement with a binary difference image the moving area is detected exactly by the labeling and the projective method. When the image move slowly with the tracking mode of the system, the center of the tracking window move to the previous tracking window. And the tracking windows are divided into a tracking mode and a coasting mode which are determine by the Contrast-Difference Correlation of the date obtained from a difference image. The coasting mode determine whether continue the tracking step or not comparing the coasting-time values to reducing the error by the disturbance. The coasting and tracking of these moving images are verified by the result of the simulation.