• Transactions of the Korean Society of Automotive Engineers
• /
• v.9 no.4
• /
• pp.176-183
• /
• 2001

It is difficult to find out the kinematic characteristics of a vehicle suspension without the usage of CAE software. The application of CAE software into suspension kinematics and dynamics yields the more precise knowledge on the chassis design. In this study, the influence of the suspension geometry on the handling performances of a large-sized bus is investigated using the DADS software. The front and rear suspension of a large-sized bus are a rigid axle suspension with the four control links. The elastokinematic analysis is performed to evaluate the roll characteristics of the front and rear suspension. The elastokinematic responses are evaluated in terms of the roll center height and roll steer for various geometric parameters. The roll center height is mainly dependent on the vertical displacement of a panhard rod and the vertical displacements of lower control links affect the roll steer of a rear suspension. The parameter study with the change of rear suspension geometry is conducted to investigate the vehicle handling performances. This parameter study shows that the vertical displacement and orientation of a panhard rod influence the handling performances of a large-sized bus significantly.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1847-1852
• /
• 2003

Ultrasonic motors have many excellent performances. A variety of ultrasonic motors has been developed and used as an actuator in motion control systems. However, this motor has nonlinear characteristics. Therefore, it is difficult to achieve the precise position control system incorporating with the ultrasonic motor. This paper describes a position control scheme for traveling-wave type ultrasonic motor using a pseudo-derivative control with feedforward gains (PDFF) controller designed by the coefficient diagram method (CDM). The PDFF control system satisfies both the tracking and regulation performances, which are the most important for the precise position control system. The CDM is shown to be an efficient and simple method to design the parameters of PDFF controller. The effectiveness of the proposed control system is demonstrated by experiments.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.16 no.6
• /
• pp.4253-4259
• /
• 2015

In this study, the effects of various control methods of outdoor air cooling control system on control characteristics and energy consumption in building are researched by simulation. The system analysis modelling is done by using TRNSYS program package, and the control performances with existing outdoor air cooling methods are compared with the control ones without outdoor air cooling. As a result, appropriate operating temperature conditions of outdoor air cooling system according to outdoor temperature changes are required, and the outdoor air/return air dry bulb temperature comparison control method among the control methods shows best responses in energy savings.

• Journal of Electrical Engineering and Technology
• /
• v.10 no.2
• /
• pp.518-528
• /
• 2015

This article presents a closed loop control of DC series motor fed by DC chopper controlled by an PID controller based intelligent control using ANN (Artificial Neural Network). The PID-ANN controller performances are analyzed in both steady state and dynamic operating condition with various set speed and various load torque. Here two different motor parameters are taken for analysis (220V and 110V motor parameters). The static and dynamic performances are taken for comparison with conventional PID controller and existing work. The steady state stability analysis of the system also made using the transfer function model. The equation model is also done to analysis the performances by set speed change and load torque change. The proposed controller have better control over the conventional PID controller and the reported existing work. This system is initially simulated using MATLAB / Simulink and then experimental setup done using P89V51RD2BN microcontroller.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.49 no.4
• /
• pp.54-61
• /
• 2012

This paper proposes a fusion method of the queen-bee evolution into the rank-based control of mutation probability for improving the performances of genetic algorithms. The rank-based control of mutation probability which showed some performance improvements than the original method was a method that prevented individuals of genetic algorithms from falling into local optimum areas and also made it possible for the individuals to get out of the local optimum areas if they fell into there. This method, however, showed not good performances at the optimization problems that had a global optimum located in a small area regardless of the number of local optimum areas. We think that this is because the method is insufficient in the convergence into the global optimum, so propose a fusion method of the queen-bee evolution into this method in this paper. The queen-bee evolution inspired by reproduction process of queen-bee is a method that can strengthen the convergency of genetic algorithms. From the extensive experiments with four function optimization problems in order to measure the performances of proposed method we could find that the performances of proposed method was considerably good at the optimization problems whose global optimum is located in a small area as we expected. Our method, however, showed not good performances at the problems whose global optima were distributed in broad ranges and even showed bad performances at the problems whose global optima were located far away. These results indicate that our method can be effectively used at the problems whose global optimum is located in a small area.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.5
• /
• pp.353-360
• /
• 2016

In this paper, a DOB (disturbance observer) is designed for the steering stabilization of one-wheeled balancing robot. Based on the simple stick model of the single-wheeled robot, DOBs and the corresponding Q filters are designed. Although the proposed models are simple, DOBs are desired to deal with model uncertainties for the enhanced balancing performance. Experimental studies of two different cases of Q filter design are conducted to evaluate the performances of DOBs. Their performances are compared through balancing control experiments.

• Journal of the Korean Society for Precision Engineering
• /
• v.24 no.2 s.191
• /
• pp.86-94
• /
• 2007

In this paper, a dual stage servo mechanism has been developed for image tracking system to improve control performances such as small rise time, small overshoot, small settling time, small stabilization error etc. A secondary stage, a platform, actuated by a pair of electro-magnets is mounted on a conventional elevation gimbal. In this mechanism, the gimbal provides large range but slow motion and the platform provides small range but fast positioning. A sliding mode control is applied to the platform positioning to attain robust performances and stability in the presence of the disturbance related to dynamic coupling of the gimbal and the platform. Results from experiments illustrate that the suggested dual stage mechanism controlled by the sliding mode control is effective in improving responses and attenuating the disturbance response related with dynamic coupling.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.4
• /
• pp.422-434
• /
• 1997

In this paper, a two-stage kinematic optimal design for a 3 degree of-freedom (DOF) excavator subsystem, which consists of boom, arm and bucket, is performed. The objective of the first stage is to find the optimal parameters of the joint-actuating mechanisms which maximize the force-torque transmission ratio between the hydraulic actuator and the rotating joint. The objective of the second stage is to find the optimal link parameters which maximize the isotropic characteristic of the excavator subsystem throughout the workspace. It is illustrated that kinematic/dynamic performances of the kinematically optimized excavator subsystem have improved compared to those of original HE280 excavator, with respect to three performance indices such as maximum load handling capacity, maximum velocity capability, and acceleration capability.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.8 s.227
• /
• pp.1093-1098
• /
• 2004

This paper presents a close-loop feedback control scheme, which can simultaneously satisfy multiple conflicting control performances, for a high speed positioning system driven by a brushless D.C. motor. With the dynamic model of the motor and proportional-plus-derivative feedback controllers selected as sample controllers, the convex combined feedback controller is formulated for implementing a direct-drive manipulator. Experimental results show that the developed multiple simultaneous specification(MSS) controller can meet desired control performances; maximum overshoot and rise time.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.10 no.1
• /
• pp.43-48
• /
• 2010

This article presents the experimental studies of controlling angle and position of the inverted pendulum system using neural network to compensate for errors caused due to fuzzy controller. Although fuzzy control method can deal with nonlinearities of the system, fixed fuzzy rules may not work and result in tracking errors in some cases. First, a nominal Takagi-Sugeno (TS) type fuzzy controller with fixed weights is used for controlling the inverted pendulum system. Then the neural network is added at the reference input to form the reference compensation technique (RCT)control structure. Neural network modifies the input trajectories to improve system performances by updating internal weights in on-line fashion. The back-propagation learning algorithm for neural network is derived and used to update weights. Control hardware of a DSP 6713 board to have real time control is implemented. Experimental results of controlling inverted pendulum system are conducted and performances are compared.