• Title/Summary/Keyword: Controller gain tuning

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Research of Fuzzy Auto gain tuning control to apply actuator controller of Unmaned Aerial Vehicle (무인항공기 작동기 컨트롤러를 위한 퍼지 자동 이득 조정 PID 제어 연구)

  • Kim, Tae-Wan;Baek, Jin-Wook;Lee, Hyeong-Cheol
    • Journal of Advanced Navigation Technology
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    • v.13 no.6
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    • pp.813-819
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    • 2009
  • Designing actuator controllers of aircraft, which control aileron, flap, elevator and so on, is quiet difficult, because they have time variant nonlinear mechanical structures and also have many kinds of disturbances which are not been able to model easily. This paper reports about the performance of Fuzzy Auto gain tuning Control algorithm applied unmaned aerial vehicle. Fuzzy Auto gain tuning PID control uses PID control and Fuzzy control, therefore It can be applied very easily and it also has advances of PID control. It can control a unmaned aerial vehicle actuators adaptively even though the designer does not have enough information of plant.

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A Design Of Control System Satisfying Multi-Performance Specifications Using Adaptive Genetic Algorithms (적응 유전자 알고리즘을 이용한 다수의 성능 사양을 만족하는 제어계의 설계)

  • 윤영진;원태현;이영진;이만형
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2002.04a
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    • pp.621-624
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    • 2002
  • The purpose of this paper is a study on getting proper gain set of PID controller which satisfies multi-performance specifications of the control system. The multi-objective optimization method is introduced to evaluate specifications, and the genetic algorithm is used as an optimal problem solver. To enhance the performance of genetic algorithm itself, adaptive technique is included. According to the proposed method in this paper, finding suitable gain set can be more easily accomplishable than manual gain seeking and tuning.

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A study on the PID controller-gain tuning of the magnetically suspended milling spindle for chatter-free cutting (채터없는 안정 가공을 위한 자기베어링 밀링 주축의 PID 제어 게인 튜닝 연구)

  • 경진호;노승국;박종권;박선원
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2003.06a
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    • pp.117-120
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    • 2003
  • A method for PID controller tuning based on process models for unstable processes was introduced. The optimal. proportional and derivative gains of the AMBs were determined by the tuning method and utilized for the chatter stability analysis in order to search for the chatter-free cutting region. The stability analysis results showed that the optimal gains give wider chatter-free cutting region, and as a result the proposed tuning method was confirmed to be an effective tuning method for determining the optimal gains of the AMBs.

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Load variation Compensated Neural Network Speed Controller for Induction Motor Drives (부하변동을 보상한 유도전동기 신경망 속도 제어기)

  • Oh, Won-Seok;Cho, Kyu-Min;Kim, Hee-Jun;Hyun, Sin-Tae;Kim, Young-Tae
    • Proceedings of the KIEE Conference
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    • 2002.07b
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    • pp.1137-1139
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    • 2002
  • In this paper, recurrent artificial neural network (RNN) based self tuning speed controller is proposed for the high performance drives of induction motor. RNN provides a nonlinear modeling of motor drive system and could give the information of the load variation, system noise and parameter variation of induction motor to the controller through the on-line estimated weights of corresponding RNN. Thus, proposed self tuning controller can change gains of the controller according to system conditions. The gain is composed with the weights of RNN. For the on-line estimation of the weights of RNN, extended kalman filter (EKF) algorithm is used. Self tuning controller that is adequate for the speed control of induction motor is designed. The availability of the proposed controller is verified through the MATLAB simulation with the comparison of conventional PI controller.

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A study of Self-Tuning PI Speed Controller Based on Fuzzy for Permanent Magnet Linear Synchronous Motor (선형 영구자석형 동기 전동기의 Fuzzy 기반 Self-Tuning PI 속도 제어기에 관한 연구)

  • Lee Chin-Ha;Choi Cheol;Kim Cheul-U
    • The Transactions of the Korean Institute of Power Electronics
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    • v.9 no.6
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    • pp.602-611
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    • 2004
  • Servo system has commonly adapted PI controller with fixed gains, because of its simplicity and determinative relationship among the parameters. The fixed gains PI system may be applied well to some operation conditions, but not non-linearities, complex and time variant operation conditions. For solving these problems, another conventional method, 'variable gun schedule according to speed', is published. The value of gain is determined according to the absolute value of the mover real speed. In this paper, FSTPIC(Fuzzy Self-Tuning PI Controller) is proposed based on various experiences to rapidly reduce speed error and to secure a good speed response characteristics. The effectiveness of proposed algorithms is demonstrated by comparing to two conventional gain systems via 4-quadrant operation.

Design and implementationof a fuzzy tuning discrete-time repetitive controller for a direct drive robot (직접구동형 로봇에 대한 퍼지 튜닝 이산시간 반복제어기의 설계 및 실시간 구현)

  • 김성현;김진현;안현식
    • Journal of the Korean Institute of Telematics and Electronics S
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    • v.35S no.3
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    • pp.76-85
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    • 1998
  • In this paper, a fuzzy tuning method of a control gain in the discrete-time repetitive controller is proposed for precise tracking control of a system whose reference signal is repetitive. The control gain is modified by fuzzy rules which use the magnitude and the variation ofthe maximum output error in the previous repetitive period. The proposed method is applied to a direct drive 2-axis SCARA-type robot and, it is illustratedby computer simulations and real-time experimentation that better performance can be obtained that the fixed gain-based repetitive controller.

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The optimum gain design of PI Controller using a speed estimation in Sensorless vector-control (센스리스 벡터제어의 속도추정 기에 사용되는 PI제어기의 최적이득 설계)

  • Kim, Hyung-Jun;Cho, Nae-Sue;Ku, Bon-Ho;Youn, Kyung-Sup;Kwon, Woo-Hyen
    • Proceedings of the KIEE Conference
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    • 2004.11c
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    • pp.614-616
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    • 2004
  • It is waste of time in industrial plant that the PI controller gain tuning. The PI controller has many trial-and-error steps for gain design. This paper proposes the optimum gain design of PI controller using a speed estimation in sensorless vector-control. In this method, a degree of stability and Hurwitz theory are applied and the controller gain is expressed by system parameters.

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Control Gain Tuning of a Simultaneous Multi-Axis PID Control System by Taguchi Method (다구찌방법을 이용한 다축 동시 PID 제어시스템의 제어이득 조정)

  • Lee, Ki-Ha;Kim, Jong-Won
    • Journal of the Korean Society for Precision Engineering
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    • v.16 no.6
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    • pp.25-35
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    • 1999
  • This paper presents a control gain tuning scheme for multi-axis PID control systems by Taguchi method. As an experimental set-up, a parallel mechanism machine tool has been selected. This machine has eight servodrives and each servodrive has four control gains, respectively. Therefore, total 32 control gains have to be tuned. Through a series of design of experiments, an optimal and robust set of PID control gains is tuned. The index of the sum of position error and velocity error is reduced to 61.4% after the experimental gain tuning regardless of the feedrate variation.

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PID auto-tuning controller design via fuzzy logic

  • He, Wei;Yu, Tian;Zhai, Yujia
    • Journal of the Korea Convergence Society
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    • v.4 no.4
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    • pp.31-40
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    • 2013
  • PID auto-tuning controller was designed via fuzzy logic. Typical values such as error and error derivative feedbackwere changed as heuristic expressions, and they determine PID gain through fuzzy logic and defuzzification process. Fuzzy procedure and PID controller design were considered separately, and they are combined and analyzed. Obtained auto-tuning PID controller by Fuzzy Logic showed the ability for less than 3rd order plant control.

PID Controller and Derivative-feedback Gain Design of the Direct-drive Servo Valve Using the Root Locus and Manual Tuning (근궤적과 수동 조정에 의한 직접 구동형 서보밸브의 PID 제어기 및 미분피드백 이득 설계)

  • Lee, Seong Rae
    • Journal of Drive and Control
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    • v.13 no.3
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    • pp.15-23
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    • 2016
  • The direct-drive servo valve(DDV) is a kind of one-stage valve because the main spool valve is directly driven by the dc motor. Since the DDV structure is simple, it is less expensive, more reliable, and offers a reduced internal leakage and a reduced sensitivity to fluid contamination. The control system of the DDV is highly nonlinear due to a current limiter, a voltage limiter, and the flow-force effect on the spool motion. The shape of the step response of the DDV-control system varies considerably according to the magnitudes of the step input and the load pressure. The system-design requirements mean that the overshoots should be less than 20%, and the errors at 0.02s should be less than 2%, regardless of the reference-step input sizes of 1V and 5V and the load-pressure magnitudes of 0MPa and 20.7MPa. To satisfy the system-design requirements, the PID-controller parameters of $K_c$, $T_i$ and $T_d$, and the derivative-feedback gain of $K_{der}$ are designed using the root locus and manual tuning.