• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.260-260
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• 2000

In this work, we have developed a 2 degree of freedom(DOF) motion simulator that can generate the sensation of motion in a 6 DOF space. The motion base has the DOF of roll and pitch, and the purpose of the motion base is to create the sensation of riding a vehicle in a 3D space by controlling the motion base. The dynamics of the mechanism was analysed and the optimal design of the motion base mechanism has been reached. The prototype motion base mechanism was developed and tested. The multi-axis motion controller(MMC) was used to control the two ac servo motors that drive the roll and pitch motion.

• 한국항해항만학회지
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• 제35권3호
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• pp.227-233
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• 2011

본 연구는 선박용 Night Vision 시스템을 개발하기 위한 선행연구로 2축 지그와 이를 구동할 수 있는 PCU 보드를 제작하고, 추종 및 안정화 제어루틴을 얻는 문제를 다룬다. 개발한 지그와 PCU 보드를 6DOF 모션 시뮬레이터와 결합하여 실험환경을 구축하고 RCGA를 이용하여 지그 모델의 파라미터를 얻고, 추정된 모델과 RCGA를 이용하여 2DOF PID 제어기를 동조한다. 실험과 시뮬레이션을 통해 제안하는 2자유도 PID 제어기의 유효성을 검토한다.

• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.697-703
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• 2011

This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 1999년도 학술대회논문집-국제 전기방전 및 플라즈마 심포지엄 Proceedings of 1999 KIIEE Annual Conference-International Symposium of Electrical Discharge and Plasma
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• pp.262-266
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• 1999

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 having feature for removal disturbrances and tracking function in the target value point. The back propagation algorithm of neural network used for tuning the 2-DOF parameter ($\alpha$, $\beta$, ${\gamma}$, η). We investigate the 2-DOF PID control system in the position control system and verify the effectiveness of proposal method through the result of computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.101.3-101
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• 2002

Contents 1 Abstract- In the thermal power plant, there are six manipulated variables; main steam flow, feedwater flow, air flow, spray flow, fuel flow, and gas recirculation flow. Therefore, the thermal power plant control system is a multi-input and output system. In the control system, the main steam temperature typically is regulated by the fuel flow rate and the spray flow rate, and the reheater steam temperature is regulated by the gas recirculation flow rate. Up to the present time, the PID controller has been used to operate this system. This paper focuses on the characteristic comparison of the PID controller, the modified 2-DOF PID Controller on the DCS, in order to design an optimal...

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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• pp.397-402
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• 1998

PID controller has been used very widely in the industrial applications. But it is difficult tune the PID gains. In this paper, we present a design of optimal 2-DOF PID controller for control of container crane which has to control swing motion and trolley position. For tuning of the 2-DOF PID control gains, we used hybrid evolution program(EP). During operate the crane system in yard, the goal is transporting the load to a goal position as quick as possible without rope oscillation. The crane is generally operated by an expert operator, but recently an automatic control system with high accuracy and rapid transportation is required. However, we developed an optimal controller which has to control the crane system with disturbance.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.502-507
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• 2016

In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange-Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.

• Journal of Advanced Marine Engineering and Technology
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• 제38권1호
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• pp.39-47
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• 2014

본 연구에서는, 자동으로 조작되는 밸브의 제어기로 사용되는 유압모션 제어기의 한계점인 설정치 추종성능과 외란 억제성능을 개선하기 위한 방법으로 기존의 PID 제어기에 피드-포워드 제어기를 추가한 2자유도(DOF) PID 제어기를 이용하였다. 이 제어기의 제어인자(Parameter)를 최적화시키는 도구로 실수코딩 유전알고리즘(Real Coded Genetic Algorithm, RCGA)을 이용하고 시뮬레이션을 통해 제어기의 성능을 검증하였다.

• 융합신호처리학회논문지
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• 제5권1호
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• pp.66-72
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• 2004

PID제어는 수십년간 잘 사용이 되어 왔다. PID알고리즘은 적당한 튜닝법을 사용하여 파라미터를 구하여 제어시스템을 설계한다. 그러나 어떤 경우에는 다양한 평가지표가 필요하고, 따라서 이들 다양한 평가지표를 사용하여 설계할 제어시스템이 필요로 하는 조건들을 만족되게 해야 한다. 본 논문에서는 오차, 제어입력의 에너지 및 제어입력의 변화율 등의 시간영역지표들은 물론이고 견실성을 확보하기 위해서 견실성 지표 예들 들면 가중치를 부과한 상보감도함수의 무한대놈을 포함한 선형조합형태의 평가지표를 사용하여 2 자유도 PID제어기를 설계한다. 수치해석을 통하여 최적의 2 자유도 PID파라미터들을 구한다. 이들 I-PD형 등의 2자유도 형은 PID를 변형한 형태로서 단일의 PID제어기들에 비해 더 개선된 출력특성을 얻을 수 있음을 보인다. 시뮬레이션은 MATLAB m 및 mdl파일을 통하여 실행한다.