• 한국정밀공학회지
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• 제29권11호
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• pp.1207-1213
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• 2012

Typically commercial controllers do not give data of the controller gains. Therefore, it is very hard to determine the optimal controller gain even though the dynamic model is derived. In this case, design of experiment (DOE) methodology can be a powerful tool for gain tuning. In this research, gain tuning process is proposed based on the DOE. Micro parallel mechanism platform with 3 degrees-of-freedom (DOF) is used for the experiments. Controller gains are measured indirectly from the voltages of adjustable resistors. The controller gains of three actuators are optimized by two or three steps, respectively. The correlations of the controller gains are also analyzed. The process and methodology can be adopted in gain tuning of other mechanical systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.192-194
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• 1996

This paper propose an optimal scaling gain tuning method of the fuzzy PI controller using Genetic Algorithm(GA). Scaling gains can reflect the control resolution and fuzziness of input/output variables. By the scaling gain method, the design of a fuzzy logic controller(FLC) can be simplified without affecting the system performance in comparison with multi-decision table method. In designing a fuzzy logic controller, the analytic approach method for the optimization is unavailable. Therefore GA is excellent optimization algorithms for scaling gain tuning. Using this optimal scaling gain tuning method, a good performance can be achieved both in transient and steady state.

• International Journal of Precision Engineering and Manufacturing
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• 제9권4호
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• pp.39-44
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• 2008

In this paper, through the study of discrete implementation of time delay control (TDC) and PID control algorithm, a new systematic gain selection method for PID controller is proposed. An important advantage of this method is that it may be applied to real systems with very simple and systematic procedure. The proposed method is derived for SISO systems and then extended to MIMO system. Through simulation for the second order non-linear plant and experiment on 2-DOF robot, the effectiveness of the proposed method is confirmed. The proposed method could solve the problem of difficulty in gain tuning of existing PID controller.

• 한국위성정보통신학회논문지
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• 제11권4호
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• pp.39-43
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• 2016

본 논문은 조향구조를 갖는 이동로봇의 조향 제어를 위해 PID 제어기의 이득을 튜닝 방법을 제안한다. PID 이득을 설정하는 다양한 방법들이 제시되고 연구되고 있다. 이득은 지글러-니콜스의 계단형 입력으로부터 이득을 얻는 방법으로 얻어진 이득을 이동로봇에 적용하고 이를 시험하여 다시 2차 전달함수에 의해 새로운 이득을 계산하였다. 얻어진 새로운 이득으로 응답시간 및 유지오차율에 관한 실험을 수행하여 PID 자동 튜닝의 성능을 확인하였다. 유지시간, 응답시간 및 수렴시간에 대한 실험결과로 이동로봇의 조향 시스템에서 사용이 가능하고 응답 시간이 빠르게 도달할 수 있으며 안정하게 제어됨을 확인하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제33권7호
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• pp.1003-1011
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• 2009

This study aims at precise control of oil outlet temperature in the oil cooler system of machine tools for enhancement of working speed and processing accuracy. PID control logic is adopted to obtain desired oil outlet temperature of the oil cooler system with hot-gas bypass method. We showed that the gains of PID controller could be easily determined by using gain tuning methods to get the gain of PID controller without any mathematical model. We also investigated various gain tuning methods to design the gains of PID and compared each control performance for selecting the optimal tuning method on the hot gas bypass method through experiments. Moreover, we confirmed excellent control performance with proposed PI controller gain even though disturbances were abruptly added to the experimental system.

• 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.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권2호
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• pp.55-61
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• 2000

In this paper, we proposed a new PID tuning algorithm by the fuzzy set theory to improve the performance of the PID controller. The new tuning algorithm for the PID controller has the initial value of parameter Kc, $\tau$I, $\tau$D by the Ziegler-Nichols formula using the ultimate gain and ultimate period from a relay tuning experiment. We get error and error change of plant output correspond to the initial value and new proportion gain(Kc) and integral time($\tau$I) from fuzzy tunner. This fuzzy tuning algorithm for PID controller considerably reduced overshoot and rise time compare to any other PID controller tuning algorithms. In real parametric uncertainty systems, the PID controller with Fuzzy auto-tuning give appreciable improvement in the performance. The significant properties of this algorithm is shown by simulation In this paper, we proposed a new PID algorithm by the fuzzy set theory to improve the performance of the PID controller.

• 소음진동
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• 제8권3호
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• pp.441-449
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• 1998

A self-tuning control scheme, incorporated with the simplified 1st-order ARMAX(Auto-Regressive Moving Average eXogenous) model, for single rod hydraulic cylinder which has varying dynamic characteristics is presented here. An adaptive controller is developed for the system that uses feedforward and optimal feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the self-tuning controller with a fixed gain proportional controller clearly shows its superior ability in handling load changes in quiescent states.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.271-272
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• 2006

This paper presented a new experimental gain tuning technique for a Multi-Axis Servo System. First, the investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer (DSA) was performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function was obtained. In turn, the integral gain of a servo controller can be found out by using the Integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller has been obtained by using the Bode plot of the closed loop transfer function. We have also proposed the technique to find out an optimal parameter of a notch filter, which has a great influence on vibration reduction, by using the damping factor extracted from the Bode plot of closed loop transfer function.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.513-518
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• 2001

As the machining depth increases, the drilling torque increases and fluctuates and the risk of drill failure also increases. Hence, drilling torque control is very important to prevent the drill from failure. In this study, a PID controller was designed to control the drilling torque in a machining center. The plant including the feed drive system, cutting process, and spindle system was modeled for controller design. The Ziegler-Nichols rule was used to determine the controller gain and control action times. The root locus plot was used to tune the controller gain for a certain cutting condition. Also, suggested was a simple method to obtain the tuned controller gain for an arbitrary cutting condition not using the Ziegler-Nichols rule and root locus plot. The cutting torque control, performance of the designed controller and the effect of gain tuning on the control performance were examined.