• 로봇학회논문지
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• 제17권2호
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• pp.221-229
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• 2022

Sliding mode control (SMC) is a robust control method to control a robot arm with nonlinear properties. A high switching gain of SMC causes chattering problems, although the SMC allows the adequate control performance by giving high switching gain, without the exact robot model containing nonlinear and uncertainty terms. In order to solve this problem, SMC with sliding perturbation observer (SMCSPO) has been researched, where the method can reduce the chattering by compensating the perturbation, which is estimated by the observer, and then choosing a lower switching control gain of SMC. However, optimal gain tuning is necessary to get a better tracking performance and reducing a chattering. This paper proposes a method that the Q-learning automatically tunes the control gains of SMCSPO with an iterative operation. In this tuning method, the rewards of reinforcement learning (RL) are set minus tracking errors of states, and the action of RL is a change of control gain to maximize rewards whenever the iteration number of movements increases. The simple motion test for a 7-DOF robot arm was simulated in MATLAB program to prove this RL tuning algorithm. The simulation showed that this method can automatically tune the control gains for SMCSPO.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 추계학술대회 학술발표 논문집
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• pp.50-54
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• 1997

In general, the design of fuzzy logic controller has difficulties in the acquisition of expert's knowledge. So, some methods that can optimize the parameters for fuzzy logic controller automatically without expert knowledge was provided. Recently, tuning method for fuzzy logic controller using genetic algorithm(GA) were proposed in many papers. However, those are tuning methods for a part or some part of fuzzy logic controller. In this paper, we proposes auto tuning method for the whole part of tuzzy logic controller, such as parameters of membership functions for antecedence and consequence parts, rule base, scaling factor and the number of rule. Finally, second order dead time plant is provided to show the advantages of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.790-794
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• 1989

A novel control method involving an automatic tuning of digital PID controller parameters has been developed for better regulation of DO (dissolved oxygen) concentration in batch fermentation processes. Heuristic reasoning allows the PID controller to reach improved tuning decisions based upon the supervision of certain control performance indices in the same cognitive manner as in an expert control.

• 한국화재조사학회학술대회
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• 한국화재조사학회 2011년도 제20회 추계학술대회
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• pp.91-119
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• 2010

자동차 수의 증가와 함께 자동차 화재 또한 꾸준한 증가 추세에 있다. 본 연구에서는 자동차 화재의 여러 요인들 중 자동차 출고 이후에 사용자에 의하여 변형된 부분, 즉 자동차 튜닝으로 인하여 화재가 발생할 가능성을 입증하고자 하였다. 실험 결과 전조등의 밝기를 향상시키기 위한 교체, 멀티시거잭 배선의 허용전류를 초과하여 전기장치를 사용하는 경우, 전선의 손상, 그리고 시중에서 튜닝용으로 구입하여 사용하는 전기배선의 취약성 등이 화재 가능성에 영향을 미치는 것으로 나타났다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 B
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• pp.390-393
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• 1997

Fuzzy logic and neural networks are complemetary technologies in the design of intelligent system. Fuzzy neural network(FNN) as an auto-tuning method is actually known to an excellent method for the adjustment of the fuzzy rule. However, this has a weak point, because the convergence to the optimum depends on the initial condition. In this paper we develop a coding format to determine a FNN model by chromosome in GA and present systematic approach to identify the parameters and structure of FNN. The proposed hybrid tuning method realizes to construct minimal and optimal structure of the fuzzy mode simultaneously and automatically. This paper shows effectiveness of the tuning system by simulations compared with conventional methods.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 B
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• pp.994-996
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• 2000

Switched reluctance motor generally operates in the magnetically saturated region because the saturation gives several benefits to its performance. This paper investigates the modelling and fuzzy tuning PI control of a nonlinear switched reluctance motor. The modelling is performed through neural network technique. Fuzzy auto-tuning PI control is designed for a robust performance in load and speed variations. Simulation and experimental results indicate better performances compared with simple PI control.

• 한국자기학회:학술대회 개요집
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• 한국자기학회 2008년도 Asian Magnetics Conference
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• pp.98.1-98.1
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• 2008

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2009년도 추계학술대회 논문집
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• pp.344-350
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• 2009

According to torsional vibration characteristic of a damper clutch in auto-transmission, the input shaft system have occurred breakdown for the duration cycle and over-vibration happened on vehicle at specific condition. This paper describes the improvement of the torsional vibration of input shaft and the vehicle vibration by tuning of the damper clutch and suggests to the guide line about torsion characteristic on the design of damper clutch.

• 한국소음진동공학회논문집
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• 제20권10호
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• pp.883-890
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• 2010

According to torsional vibration characteristic of a tunable dual stiffness type clutch(TDSTC) in auto-transmission, the input shaft system have occurred breakdown for the duration cycle and over-vibration happened on vehicle at specific condition. This paper introduces the improvement of the torsional vibration of input shaft and the vehicle vibration by tuning of the TDSTC.

• 전자공학회논문지T
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• 제36T권1호
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• pp.41-50
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• 1999

브러시리스 직류전동기는 보수 유지의 용이성과 가제어성의 특성으로 인하여 자동화 공장에서 많이 활용되고 있다. 본 논문에서는 산업현장에서 고성능과 유용성을 가지는 정현파형 브러시리스 직류전동기의 속도제어 서보시스템을 설계하였다. 이 서보시스템은 전동기의 구동에 필요한 제어장치와 새로운 자동동조 PI제어 알고리즘에 의해서 구현되어진다. 주 제어기와 센서 신호처리부는 고속연산의 필요성과 설계의 적절성 때문에 DSP를 사용하였고, DSP에서 출력되는 속도지령을 정확히 추종하기 위해 하드웨어 PWM 전류제어기를 구현하였다. 실험 결과 지령치에 대한 빠른 응답과 지령치 변화에 따른 정상상태 응답이 오버슈트 없이 잘 수렴함을 확인 할 수 있었다.