• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2001.05a
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• pp.395-398
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• 2001

In this paper, we consider to apply of 2-DOF (Degree of Freedom) PID controller at D.C servo motor system. Many control system use I-PD, PID control system but the position control system have difficulty in controling variable load and changing parameter. We propose neural network 2-DOF PID control system haying feature for removal disturbances and tracking function in the target value point. Experiment result for 2-DOF PID controller with neural network are illustrated.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1113-1114
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• 1996

We describe an algorithm to control an autonomous guided vehicle with 2-diagonal driving wheels, which navigates in the clean room.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2002.02a
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• pp.529-538
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• 2002

콤바인 곡물 포대 자동화장치개발은 콤바인 운전자 및 작업자의 피로경감과 안전보호 및 작업성능의 향상을 기하기 위하여 행하여 졌으며, 본 연구의 개발은 기존의 콤바인 작업이 2명이 소요되는 것을 운전자 1명이 수확작업을 할 수 있도록 하며, 노동력의 절감과 작업의 편리성을 도모하고자 하였다. 이러한 본 연구의 결과는 다음과 같다. 1) 곡물 포대의 정 위치화를 위해서 용량형 근접위치센서를 설치하였으며, 포대의 과다이송에 따른 모터의 부하를 최소화 하기위해 선단부와 슈트부에 각각 위치센서를 설치하여 포대의 위치를 제어하였다. 2) 곡물 투입장치부의 작동은 공기압축기와 공압실린더를 이용한 공압시스템을 사용하였으며, 곡물의 투입량제어는 슈트부 게이트의 열림시간을 제어하여, 곡물의 투입량을 제어하였다. 3) 포대 배출장치는 이송장치로부터 이송되어진 충진된 포대를 제 2의 포대가 충진하는 영역 밖으로 밸트 컨베이어를 이용 이송하도록 하였다. 4) 포대는 B3 포대의 경우가 가장 투입량이 많은 것으로 나타났으며, 가진을 한 경우가 하지 않은 경우보다 비교적 투입량이 많은 것으로 나타났다. 본 연구에서 개발된 포대 자동화장치에서는 포대의 가진 장치를 장착하지 않았으며, 실험은 인위적으로 가진을 하여 실행하였으며, 향후 전체적인 장치의 성능 향상을 위해서 포대의 가진 장치가 필요한 것으로 나타났다.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.673-677
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• 1986

This paper deals with the state observer-controller which observes unmeasurable state variables of the system and then uses the estimated values as feedback signals. The linearized model is deduced from the nonlinear electrohydraulic servo system. The 4th order analog linear observer-controller and the 2nd order digital one are modelled and implemented using OP amplifiers and IBM PC/XT, respectively. The two observer are experimentally used in the control of an electrohydraulic system. The results are satisfactory in estimation performance and in tracking performance to command signal.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1948-1949
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• 2011

본 논문은 볼빔시스템 제어에 대해 입자군집최적화(Particle Swarm Optimization; PSO)을 이용한 최적 퍼지제어기 설계방법을 연구한다. 볼빔 시스템은 모터와 빔, 움직이는 볼로 구성되며 볼의 위치제어를 기본 동작으로 한다. 본 논문에서는 제어성능이 우수한 퍼지제어기를 사용하여 제어시스템을 설계하는데, 퍼지제어구조는 1차 제어기와 2차 제어기로 구성되고, 최적 퍼지제어기 설계를 위해 PSO를 사용하며 PSO는 초기값에 영향이 적고 일반적인 탐색알고리즘과 달리 초기 수렴의 문제를 극복한다. 본 논문에서는 퍼지제어기와 기존의 PD 제어기의 성능비교를 시도 하였다.

• Journal of the Institute of Convergence Signal Processing
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• v.2 no.1
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• pp.101-107
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• 2001

The objective of this paper is to present a method for designing robust positioning control systems of a flexible arm using mixed $H_2/H_{\infty}$ and $\mu$ theory. We begin with a description of the flexible arm based on the model identification method and discuss the derivation of the model uncertainty. The validity of the obtained model is confirmed experimentally. Next, a robust controller is designed based on the mixed $H_2/H_{\infty}$ and $\mu$ theory by which we can improve robustness of the entire system. On this occasion, we also propose a general plant formation suitable to mixed $H_2/H_{\infty}$ control and $\mu$-theory. Finally, the effectiveness of the proposed design method is verified through experimentation.

• Journal of Power System Engineering
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• v.4 no.2
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• pp.58-64
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• 2000

A method for the position control of a pneumatic cylinder using a linearized controller is proposed. Pneumatic cylinder has highly nonlinear characteristics and modelling of the system has been difficult. Compliance of the pneumatic cylinder is materially changed according to the operating position. So, in the case that fixed gain controller obtained by a linearized model at a specified position is used, response of the cylinder should be changed according to the operating position. In order to get a designed results regardless of operating positions, a controller for compensation of the nonlinear characteristic with a linearlization compensator is designed and simulation results show that this method is appropriate for the control object.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.5
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• pp.933-940
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• 2022

In this paper, the algorithm was developed to recognize hand 3D position through 2D image sensor and implemented a system to remotely control the 6 d.o.f. robot arm by using it. The system consists of a camera that acquires hand position in 2D, a computer that controls robot arm that performs movement by hand position recognition. The image sensor recognizes the specific color of the glove putting on operator's hand and outputs the recognized range and position by including the color area of the glove as a shape of rectangle. We recognize the velocity vector of end effector and control the robot arm by the output data of the position and size of the detected rectangle. Through the several experiments using developed 6 axis robot, it was confirmed that the 6 d.o.f. robot arm remote control was successfully performed.

• Bulletin of the Society of Naval Architects of Korea
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• v.26 no.2
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• pp.32-40
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• 1989

Dynamic ship positioning(DP) system is used to keep the position and heading of a ship, or a floating platform, above a pre-selected site on the seabed by using thrusters. This paper presents a control system based on filtering technique and optimal control theory. The planar motions of a vessel are assumed to consist of low frequency(LF) component and high frequency(HF) one. The former is mainly due to thrusters, current, wind and second order wave forces, while the latter is mainly due to first order oscillatory component of the wave force. Furthermore position measurement signals include the noise. By means of self-tuning filter and Kalman filter techniques, LF motion estimates and HF ones are seperately achieved from the position measurements of the vessel. The estimated LF motions are used as input to the feedback loops. The total thruster power is minimized using the Linear Quadratic Gaussian control theory. The performance of the vessel with the DP system is investigated by computer simulation.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.2
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• pp.138-143
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• 1999

A new control method for the precision robust position control of a brushless DC(BLDC) motor for direct drive m motor(BLDDM) system using the asymptotically stable adaptive load torque observer is presented. A precision position c control is obtained for the BLDD motor system appro성mately linearized using the fieldlongrightarroworientation method. Many of t these motor systems have BLDD motor to obtain no backlashes. On the other hand, it has disadvantages such as the h high cost and more complex controller caused by the nonlinear characteristics. And the load torque disturbance is d directly affected to a motor shaft. To r밍ect this problem, stability analysis is calTied out using Lyapunov stability t theorem. Using this results, the stability is proved and load disturbance detected by the asymptotically stable adaptive observer is compensated by feedforwarding the equivalent CUlTent having the fast response.