• 한국정밀공학회지
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• 제17권8호
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• pp.126-133
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• 2000

This paper is a study on robust PID controller tuning technique using the frequency region model matching method.To design the robust PID controller satisfying disturbance attenuation and robust tracking property for a reference input first an {{{{ETA _$\infty$}}}} controller satisfying given performances is designed using an H$_{\infty}$ control method, And then the parameters(proportional gain integral gain and derivation gain) of the robust PID controller with the performances of the desinged H$_{\infty}$ controller are determined using the model matching method at frequency domain. in this paper this PID controller tuning technique is applied to PID speed controller design for BLDC motors. Consequently simulation results show that the proposed PID speed controller satisfies load torque disturbance attenuation and robust tracking property and this study has usefulness and applicability for the speed control system; design of BLDC motors.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2001년도 하계 학술대회 논문집(KISPS SUMMER CONFERENCE 2001
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• pp.121-124
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• 2001

In industrial actual control system, PID controller has been used with its high delicate control system in position control system. PID controller has simple structure and superior ability in several characteristics. When the response of system is changed by delay time, variable load , disturbances and external environment, control gain of PID controller must be readjusted on the system dynamic characteristics. Therefore, a control ability of PID controller is degraded when th control gain is inappropriately determined. When the response characteristic of system is changed under a condition, control gain of PID controller must be changed adaptively to be a waited response of system. In this paper an adaptive-tuning type PID controller is constructed by self-recurrent Neural Network(SRNN). applying back-propagation(BP) algorithm. Form the result of computer simulation in the proposed controller, its usefulness is verified.

• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.973-979
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• 2001

Sliding mode control guarantees robustness in the presence of modeling uncertainties and external disturbances. However, this can be obtained at the cost of high control activity that may lead to chattering As one way to alleviate this problem a boundary layer around sliding surface is typically used. In this case the selection of controller gain, control ban width and boundary layer thickness is a crucial problem for the trade-off between tracking error and chattering. The parameter tuning is usually done by trail-and-error in practice causing significant effort and time. An auto tuning method based on fuzzy rules is proposed in the paper in this method tracking error and chattering are monitored by performance indices and the controller tunes the design parameters intelligently in order to compromise both indices. To demonstrate the efficiency of the propose method a mass-spring translation system and a roboic control system are simulated and tested It is shown that the proposed algorithm is effective to facilitae the parameter tuning for sliding mode controllers.

• 전기학회논문지
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• 제57권3호
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• pp.518-526
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• 2008

The fuzzy self-tuning PID controller is a PID controller with a fuzzy logic mechanism for tuning its gains on-line. In this structure, the proportional, integral and derivative gains are tuned on-line with respect to the change of the output of system under control. This paper deals with two types of fuzzy self-tuning PID controllers, rule-based fuzzy PID controller and learning fuzzy PID controller. As a medical application of fuzzy PID controller, the proposed controllers were implemented and evaluated in a laparoscopic surgery robot system. The proposed fuzzy PID structures maintain similar performance as conventional PID controller, and enhance the position tracking performance over wide range of varying input. For precise approximation, the fuzzy PID controller was realized using the linear reasoning method, a type of product-sum-gravity method. The proposed controllers were compared with conventional PID controller without fuzzy gain tuning and was proved to have better performance in the experiment.

• 전자공학회논문지S
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• 제35S권12호
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• pp.36-45
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• 1998

본 논문은 브러시리스 직류 전동기의 속도제어를 위해 파라메타의 추정 없이 입력과 출력의 패턴을 관찰하여 PI 이득을 온라인(On-line)으로 설정하는 방법을 제안한다. 비례이득은 한계입력을 인가하여 가장 빠른 속도 상승을 유도하는 과정에서 설정되고, 적분이득은 비례제어 과정 중에 오버슈트 방지와 안정된 수렴이 적절히 이루어지도록 설정된다. 따라서 제안된 PI이득 조정은 온라인으로 제어와 동시에 수행됨으로써 시스템 파라메타 추정 등의 부가적인 작업이 필요 없다. 본 논문에서 제안하는 PI이득 조절기법은 직류전동기의 속도제어에 있어서 빠른 응답과 오버슈트 문제를 동시에 해결할 수 있고, 기존의 Auto-tuning 방법보다 간편하고 실용적이다. 컴퓨터 시뮬레이션과 실제 실험을 통하여 제안하는 방법의 유용성과 안정성을 보인다.

• 전기학회논문지
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• 제57권9호
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• pp.1618-1623
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• 2008

In this paper, a new design method for IMC-PID that adds a phase scaling factor of system identifications to the standard IMC-PID controller as a control parameter is proposed. Based on analytically derived frequency properties such as gain and phase margins, this tuning rule is an optimal control method determining the optimum values of controlling factors to minimize the cost function, integral error criterion of the step response in time domain, in the constraints of design parameters to guarantee qualified frequency design specifications. The proposed controller improves existing single-parameter design methods of IMC-PID in the inflexibility problem to be able to consider various design specifications. Its effectiveness is examined by a simulation example, where a comparison of the performances obtained with the proposed tuning rule and with other common tuning rules is shown.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.229-229
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• 2000

Conventional gain-tuning methods such as Ziegler-Nickels methods, have many disadvantages that optimal control ler gain should be tuned manually. In this paper, modified PID controllers which include self-tuning characteristics are proposed. Proposed controllers automatically tune the PID gains in on-1ine using neural networks. A new learning scheme was proposed for improving learning speed in neural networks and satisfying the real time condition. In this paper, using a nonlinear mapping capability of neural networks, we derive a tuning method of PID controller based on a Back propagation(BP)method of multilayered neural networks. Simulated and experimental results show that the proposed method can give the appropriate parameters of PID controller when it is implemented to DC Motor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.306-308
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• 2006

산업현장에서 가장 많이 활용되고 있는 PID제어기의 이론적인 배경을 토대로 실제 DCS 기반 플랜트에서 PID Tuning Method에 의한 PID제어기를 구현하고 제어성능을 확인한다. 또한 DCS(Distribute Control System)의 PID Controller를 분석하고 전 공정제어 System 중 일부분을 ARMA Modeling하여 만족스런 성능이 구현되도록 최적의 PID gain Parameter를 찾는다.

• 한국지능시스템학회논문지
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• 제15권1호
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• pp.120-125
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• 2005

본 논문에서는 PID 제어기의 이득 동조를 위한 퍼지 제어기를 제안한다. 제안한 제어기는 PID 제어기의 크리스퍼 출력 오차를 그대로 사용하지 않는 전단 퍼지화기에서 추론단계는 갖지만 Rule Table은 갖지 않는 특징이 있으며, 출력 소속 함수에 두 변수의 관계와 범위를 이용 도식화된 영역에서 비퍼지화 시킨 비선형 출력값을 PID 계수에 부가하는 새로운 Fuzzy PID 제어기를 제안한다. 여기서 Kp, Kd 계수의 최대, 최소 범위를 설정하여 퍼지추론에 의해 새로운 Kp, Kd 계수론 구한다. Ki 계수는 Ziegler-Nichols 동조 규칙을 사용하여 구하였고, 제안한 제어기는 유압서보모터 제어시스템에 의해 실험하였으며 실험결과 양호한 제어특성을 통해 원하는 결과를 얻을 수 있었다.

• 반도체디스플레이기술학회지
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• 제21권4호
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• pp.59-64
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• 2022

Vibration is one of the factors that degrades the performance of equipment and measurement equipment used in high-tech industries such as semiconductors and display. The vibration isolator is classified into passive type and active type. The passive vibration isolator has the weakness of insufficient vibration isolation performance in the low frequency band, so an active vibration control system that can overcome these problems is used recently. In this paper, PID controller is used to control the active vibration isolator. Methods for setting the gain of the PID controller include the Zeigler-Nichols method, the pole placement method. These methods have the disadvantage of requiring a lot of time or knowing the system model accurately. This paper proposes the gain auto tuning method of the active vibration isolator applied with the PSO algorithm, which is an optimization algorithm that is easy to implement and has stable convergence performance with low calculations. It is expected that it will be possible to improve vibration isolation performance and reduce the time required for gain tuning by applying the proposed PSO algorithm to the active vibration isolator.