• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.189-194
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• 1993

This paper presents an ARW(Anti-Reset Windup) method for discrete-time control systems with saturation nonlinearites. The method is motivated by the concept of the equilibrium point. The design parameters of the ARW scheme is explicitly derived by minimizing a reasonable performance index. The proposed method is closely related with the singular perturbed theory. The proposed method is applicable to any open-loop stable plants with saturation nonlinearities whose controllers are determined a priori by some design technique.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.5
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• pp.380-387
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• 1989

The Conventional-Anti-reset-Windup (CAW) structure gives pretty good performance among the conventional strategies that prevent systems from saturation, but there is no systematic way of designing the control systems. Also, it frequently destabilizes the systems. Moreover, the CAW structure cannot be applied when the output of the saturating actuator cannot be measured. Therefore the CAW structure is modified to accommodate this situation. An effective designing method is proposed to give better performance of the control system. The stability of the control system is also considered. The usefulness of the proposed method is shown by applying this method to a few examples.

• Proceedings of the KIPE Conference
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• 2019.07a
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• pp.443-444
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• 2019

DC마이크로그리드에서, 양방향 컨버터를 통한 계통과 배터리와의 전력교환은 필수적으로 요구 된다. 일반적으로 계통이 연결 되었을 때 배터리를 충전시키고, 계통이 끊어 졌을 때는 배터리를 통해 계통에 전력을 공급하는 양방향 동작을 한다. 이러한 전력방향전환 과도상태를 줄이기 위해 무순단 절체 기능이 필요한데, 전류 제어기를 공유하는 방식의 경우 전압제어기의 포화가 발생하면 양방향 컨버터의 출력응답이 늦어지거나, 출력이 불안정해 진다. 이 문제를 해결하기 위해 양방향 컨버터의 대표적인 포화방지(Anti-windup)기법을 적용하여 성능을 비교하였다. 또한 PSIM 소프트웨어를 통해 DC마이크로그리드 시스템을 구현해 효과를 확인한다.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.4
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• pp.195-202
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• 2002

The high performance position controller named 'Unified PID Position Controller'is presented in part 1 of this paper. In part 2, we provide smart gain adjustment methods including the freedom utilizations for rare sensitivity toward the system parameter variation and for increasing the stiffness of the system. Owing to the provided gain tuning strategy, the overall system characteristics can be stabilized without over-shoot phenomena when the system parameter is changed in the rate of from 0.5 to 2∼4. Moreover, for the actual feasibility to the industrial fields, a simple butt effective anti-windup strategy prohibiting the integral component of the PID position controller from saturation is presented too. All of the presented algorithms are verified through the experiment works with commercial linear motor.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.229-234
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• 1992

This paper presents a compensator design method for multivariable feedback control systems with saturating actuators based on the concept of the equilibrium point. Am explicit expression for the compensation matrix of the general anti-reset windup(ARW) scheme is derived by minimizing the distances between the equilibrium points. The resulting dynamics of the compensated controller exhibits the reduced model form of the unsaturated system which can be obtained by the singular perturbational method. The proposed method is applicable to any open-loop stable plants with saturating actuators whose controllers are determined by some design technique. An example is given to show the effectiveness of the proposed method.

• Proceedings of the KIPE Conference
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• 2003.07b
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• pp.820-823
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• 2003

In this paper, we describe a design procedure for cascade controller for induction motor drives based on Genetic Algorithms(GAs). Most electric drives have two separate controllers for current and speed control, which are in general designed in two consecutive steps(firstly the current controller and then the speed controller). We search simultaneously for the couple of discrete anti-windup controllers achieving the optimal compromise of weighted cost and performance indices related to both current and speed responses.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.519-519
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• 2000

Since the dynamics of the slave manipulator with high reduction ratio joints is likely to be much slower than that of the master manipulator, the control input the slave manipulator is so frequently saturated. This paper proposes a bilateral teleoperation control scheme for 2-DOF manipulators with high reduction ratio joints, which can effectively compensate the control input saturation. In the proposed scheme, the controllers of the slave manipulator are designed with an anti-windup feature and forces caused by the saturation are reflected to the operator holding the operating handle of the master manipulator. When the control input of the slave manipulator is saturated, the master manipulator moves slowly file to tile reflected forces. In this way, the position tracking performance of the slave manipulator with high reduction ratio joints can be enhanced regardless of saturation. The proposed scheme is shown to give excellent position tracking performance through a series of experiments.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.1051-1052
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• 2006

This paper deals with mathmatical of an induction motor, considering non-linearity in the torque balance equation under closed loop operation with a reference speed. A controller based on Adaptive Nuro-Fuzzy Inference System (ANFIS) is developed to minimize overshoot and settling time following sudden changes in load torque. The overall system is modeled and simulated using the Matlab/simulink and Fuzzy Logic Toolbox. The advantages of fuzzy logic and neural network based fuzzy logic controller. Required training data the ANFIS controller is generated by simulation of the anti-windup PI controller is eliminated using the ANFIS controller. The transient deviation of the response from the set reference following variation in load torque is found to be negligibly samll along with a desirable reduction in settling time for the ANFIS controller.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.295-296
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• 2007

본 논문에서는 무인화 ATV 엔진 액츄에이터의 시스템 특수성을 고려한 PID 제어기의 설계를 통하여 종방향 구동을 담당하는 DC 모터의 위치제어 성능을 향상시켰다. DC 모터의 문턱 전압과 마찰력으로 인한 데드존(Dead zone)을 고려하였으며, DC 모터에 연결된 액츄에이터 와이어에 의한 복원력에 대한 영향을 최소화 시켰다. 또한 DC모터의 위치를 판별하는 엔코더의 분해능을 감안하여 제어기 설계에 반영하였고, 실험을 통하여 성능을 검증하였다.

• Proceedings of the KIPE Conference
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• 2019.11a
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• pp.186-187
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• 2019

DC마이크로그리드에서 양방향 컨버터를 통한 계통과 배터리간의 전력교환은 계통연결 시 배터리를 충전시키고 계통분리 시 배터리를 통해 독립운전을 하는 양방향 동작의 형태로 수행된다. 이러한 운전모드 전환시 과도 오차를 줄이기 위해 무순단 절체 기능이 필요하다. 본 논문에서는 무순단 절체를 위해 전류 제어기를 공유함으로 발생하는 전압제어기 포화를 방지하는 하이브리드 안티와인드업 기법을 제안한다. DC마이크로그리드 시스템으로 구현해, 시뮬레이션을통해 기존방식과의 비교하고 제안한방식의 타당성을 검증하였다.