• 로봇학회논문지
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• 제11권2호
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• pp.92-99
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• 2016

An electro-hydraulic actuator (EHA) is widely used in industrial motion systems and the increasing bandwidth of EHA position control is important issue. The model-inverse feedforward controller is known to extend the bandwidth of system. When the system has non-minimum phase (NMP) zeros, direct model inversion makes system unstable. To overcome this problem, an approximate model-inverse method is used. A representative approximate model inversion method is zero phase error tracking control (ZPETC). However, if zeros locate right half plane of z-plane, the approximate inverse model amplifies the high-frequency response. In this paper, to solve the problem of ZPETC, an adaptive model-inverse control is proposed. The adaptive algorithm updates feedforward term in real-time. The effectiveness of the proposed adaptive model-inverse position control strategy is verified by comparison with typical proportional-integral (PI) control and feedforward control by experiments. As a result, the proposed adaptive controller extends the bandwidth of EHA position control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.135-137
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• 1995

A new design method is proposed for a fuzzy PD controller. By analyzing phase plane characteristics we can build and optimize the rule base of fuzzy logic controller. Also, a new gain tuning method is used to improve performance in the transient and steady state. The improved performance of the new methodology is shown by an application to the design of control system with a highly nonlinear actuator.

• IEIE Transactions on Smart Processing and Computing
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• 제2권4호
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• pp.240-247
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• 2013

The main aim of this study was to suppress the angular velocity against strong winds during storms and analyze the stability and performance of the phase plane method. The utilization of small-scale wind turbine system has become common in agriculture, houses, etc. Therefore, it is considered to be a scheme for preserving the natural energy or avoiding the use of fossil fuels. Moreover, settling small-scaled wind turbines is simpler and more acceptable compared to ordinary huge wind turbines. In addition, after converting the energy there is no requirement for distribution. Therefore, a much lower cost can be expected for small-scaled wind turbines. On the other hand, this system cannot be operated continuously because the small-scaled wind turbine consists of a small blade that has low inertia momentum. Therefore, it may exceed the boundary of angular velocity, which may cause a fault in the system due to the centrifugal force. The aim of this study was to reduce the angular velocity by controlling the stall factor. Stall factor control consists of two control methods. One is a shock absorber that is loaded in the junction of the axis of the blade of the wind turbine gear wheel and the other is pitch angle control. Basically, the stall factor itself exhibits nonlinear behavior. Therefore, this paper confirmed the feasibility of stall factor control in producing desirable performance whilst maintaining stability.

• 대한전자공학회논문지
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• 제26권4호
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• pp.27-34
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• 1989

可變 構造 시스템 理論을 適用한 適應 모델 追從 制御器를 設計 하였다. 變形된 슬라이딩 모드 條件을 滿足시키는 提案된 制御器는 狀態 軌跡의 슬라이딩 平面 到達 速度를 改善하고 슬라이딩 모드에서 채터링의 크기를 줄이도록 한다. 슬라이딩 平面 近處의 領域에서 制御入力을 바꿈으로써 채터링을 줄이고 이 結果를 컴퓨터 시뮬레이션을 통하여 立證하였다.

• 한국멀티미디어학회논문지
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• 제17권2호
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• pp.208-217
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• 2014

본 논문은 효과적인 물체 검출이 가능하도록 명도값의 변화방향에 따라 수렴하는 경우와 발산하는 경우의 대칭기여도를 적응적으로 제어할 수 있도록 가우시안 함수형태의 위상가중함수를 이용한 적응적 대칭기여도 제어 기반 일반화 대칭변환을 제안하였다. 제안한 방법에서는 먼저 수렴영역과 발산 영역을 정의한 후 정의된 수렴/발산 영역에서 대칭극점과 거리 함수로 표현된 대칭정도에 따라 대칭기여도의 반영 비율을 달리 할 수 있도록 가우시안함수 형태의 위상가중 함수를 사용하였으며, 가우시안함수 형태의 위상 가중함수에서 차단주파수 조절을 통한 대칭기여도의 적응적인 제어를 통해 효과적인 물체 검출이 가능하도록 하였다. 제안한 방안의 성능을 평가하기 위해 IR영상을 포함한 다양한 영상에서 대해 차단주파수 조절을 통한 대칭기여도의 적응적 제어가 물체검출에 미치는 영향을 기존의 GST와 비교, 분석하여 제안한 방법의 우수한 성능을 증명하였다.