• 제목/요약/키워드: Control Object

검색결과 2,599건 처리시간 0.032초

영상 안정화 장치의 안정화를 위한 시간지연 제어기 설계 및 실험 (Experimental Studies of a Time-delayed Controller to Stabilize Image Stabilization System)

  • 박주광;배영걸;정슬
    • 제어로봇시스템학회논문지
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    • 제13권1호
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    • pp.58-64
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    • 2007
  • In this paper, the stabilization problem of the image stabilization system(ISS) that captures the image of an object on the ground by remote sensing is considered. The ISS should be stable under outer disturbance such as helicopter vibration for tracking line of sight. Although PID controllers are optimized for the system, disturbances cause the instability of the system. To minimize the effect of the disturbance, the time-delayed control method is used to compensate for uncertainties. Simulation studies are performed and experiments are conducted to confirm the simulation results. Performances of PID control and time-delayed control methods are compared.

Ground Speed Control of a Direct Injection Sprayer

  • Koo, T.M.;Sumner, H.R.
    • 한국농업기계학회:학술대회논문집
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    • 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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    • pp.500-510
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    • 1996
  • A Direct injection -mixing total -flow -control sprayer was developed and evaluated . The system provided precise application rates and minimized operator exposure to chemicals as well as providing a possibility for recycling container so f unused chemicals that can causes environmental contamination. Chemicals were metered and injected proportionally to the diluent flow rate to provide constant concentrations. The main diluent flow was varied in response to changes in travel speed. Experimental variables of the sprayer were the control interval, the sensitivity of flow regulating valve, the tolerance of control object and the sensitivity of the injection pump system. The optimal performance of the flow control system was with an average response time of 8.5 sec at an absolute steady state of error of 0.067 L/min (0.8% of flow rate). The average response time of the injection rate was -0.53 sec and the coefficient of variation (CV) of concentration was 3.2%.

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이산시간 파라미터 적응형 학습제어 시스템에 관한 연구 (A Study on the Discrete Time Parameter Adaptive Learning Control System)

  • 최순철;양해원
    • 한국통신학회논문지
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    • 제13권4호
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    • pp.352-359
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    • 1988
  • 학습제어 시스템은 제어대상 시스템의 파라미터를 모르는 경우에 파라미터 적응의 개념을 도입해서, 일종의 hybrid형 적응제어 시스템으로 간주하여 설계될 수 있다. 이러한 파라미터 적응형 학습제어 시스템은 이미 보고되었으나 연속시간 시스템에만 적용될 수 있었다. 본 논문에서는 메모리소자를 반드시 포함하여야 하는 학습시스템에 대하여, 위의 제어알고리즘을 이산화 함으로써 디지탈기술의 발전에 비추어 실제의 적용을 용이하도록 하였으며, 그 타당성을 시뮬레이션으 통하여 확인하였다.

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개선된 신경망을 이용한 헬리콥터 고도 제어기 설계 (A Design of Hight Controller of helicopter Using Improved Neural Network)

  • 왕현민;허경무;우광준
    • 제어로봇시스템학회논문지
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    • 제7권3호
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    • pp.229-237
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    • 2001
  • In this paper, we propose two design methods of neural networks controller for the height control of helicopter, one is the design of neural network controller having learning capability and the other is the design of more improved neural network controller. Through the simulation results, we show that the proposed controllers have controllers have enhanced control performance(rapid response, effectiveness and safety) than the typical neural networks controller in the height control of helicopter.

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신경회로망을 이용한 역추균형 재어기 설계 (Design of a Pole-Balancing Controller Using Neural Networks)

  • 김유석;이장규
    • 대한전기학회논문지
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    • 제40권2호
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    • pp.217-223
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    • 1991
  • Most common applications of neural networks to control problems are the automatic motor controls using the artificial perceptual function. These control mechanisms are similar to those of the intelligent and pattern recognition control of an adaptive method frequently performed by the animate nature. In this paper, the pole-balancing problem is selected as the control object and an actual cart-pole controller is implemented by a computer interfacing and demonstrated as motor control using the reinforcement learning rule. In the experiment, given a change of the main parameters of cart-pole dynamics, a comparison is made between the LQR scheme and neural network method. The neural network method exhibits a more effecftive control action in a real situation having a large uncertainty than the LQR scheme.

원자력발전소의 증기발생기 수위 디지털 제어 시스템 개발 및 적용에 관한 연구 (A study on the Development and Application of a Steam Generator Level Digital Control System for Nuclear Plants)

  • 문병희;김경철
    • 조명전기설비학회논문지
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    • 제16권3호
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    • pp.101-109
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    • 2002
  • 원자력발전소 제어계통중 운전 정지에 많은 영향을 주고 제어하기 가장 까다로운 중기발생기 수위 제어는 특히 기동시 및 저 출력시에 자동제어는 물론 수동제어도 매우 어려운 상태이다. 중기발생시 수위특성을 분석하여 안정성이 보장된 증기발생기 수위 제어 계통의 제어방법을 개선하여 제어 성능과 신뢰도를 향상시킬 수 있는 알고리즘을 개발하고 디지털 제어 시스템으로 구현하여 실제 발전소에 설치 적용하였다.

이동물체 추적을 위한 이동로봇의 대형제어 (Formation Control of Mobile Robot for Moving Object Tracking)

  • 오영석;이충호;박종훈;김진환;허욱열
    • 전기학회논문지
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    • 제60권4호
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    • pp.856-861
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    • 2011
  • The mobile robot controller is designed to track the target and to maintain the formation at the same time. Formation control is included in mobile robot controller by extending the trajectory tracking algorithm. The dynamic model of mobile robot is used with kinematic model considering the practical physical parameters of mobile robot. The dynamic model of mobile robot transforms velocity control input of kinematic model into torque control input which is the practical control input of mobile robot. Formation controller of mobile robot is designed to satisfy Lyapunov stability by backstepping method. The designed formation controller is applied to the mobile robot for various target movements and simulated to confirm the Lyapunov stability.

암환자가 지각하는 건강통제위 성격과 삶의 질에 관한 관계연구 -방사선요법을 받는 암환자를 중심으로- (A Study of the Relationship Between Perceived Health Locus of Control and Quality of Life of Cancer Patients.)

  • 방동완
    • 대한방사선치료학회지
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    • 제12권1호
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    • pp.69-84
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    • 2000
  • It has been reported that the cancer patient's quality of life is influenced by the perceived health state, self-esteem, health locus of control, social support, whether there is a pain or not, the stage of a disease, the period of a disease, etc, and however, there has been scarcely the research into the fact at home whose cultural and social backgrounds are entire1y different from those of American and European Countries. Accordingly, the author of this thesis performed this study. considering that it is necessary to know the relations between the health locus of control which make it possible to predict the object's behavior related to health and to make plans to induce the object or patient into sound behavior and the quality of life which is closely related to the cancer patient's health, emotion, society, economy, etc. on the whole. This study, a cross-sectional one, includes 135 subjects of $in{\cdot}out$ patients registered at Y University Hospital whose age are more than 20 years, From these patients, data were collected for two weeks through the questionnaire which content concerns about the quality of life and the health locus of control. All the collected data were processed and analyzed through Student's t-test, ANOVA, and the calculation of Pearson Correlation Coefficient, using the SAS program 1. It appeared that the disposition of health locus of control was mostly inclined to the disposition of powerful other health locus of control($28.37{\pm}4.24$), then inclined to internal health locus of control($27.03{\pm}4.17$), and next to chance health locus of control($19.71{\pm}4.97$) By the way. the disposition of powerful other health locus of control appeared a tittle bit higher than internal health locus of control 2. The degree of the quality of life appeared to be 137.54 points in the average of total points and 3.11 in the average evaluation mark. It appeared that the quality of life was most significantly influenced by a factor of 'relations with neighbors' and least significantly influenced by factors of physical conditions and functions. 3. It appeared that the relation between the disposition of health locus of control and the quality of life has nothing to do with the relation between internal health locus of control and the quality of life(r=.1446, P>.05) and also with the relation between the disposition of powerful other health locus of control(r=.0385, P>.05). In conclusion, in the study it has been found out that there is no correlation between the health locus of control and the quality of life, and however it is sound to induce the cancer patient to internal health locus of control. Therefore, it is necessary that under the special circumstances, the cancer patient's behavior should be predicted, thereby inducing the patient to the sound change of his or her behavior. Also in order that the patient enjoys his or her life satisfactorily while living, It is deemed that some kind of multilateral meditation in health and treatment is necessary so that the patient can feel the relief of pain, better health, etc.

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Expert system for segmentation of 2.5-D image

  • Ahn, Hongyoung
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.376-381
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    • 1992
  • This paper presents an expert system for the segmentation of a 2.5-D image. The results of two segmentation approaches, edge-based and region-based, are combined to produce a consistent and reliable segmentation. Rich information embedded in the 2.5-D image is utilized to obtain a view independent surface patch description of the image, which can facilitate object recognition considerably.

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