• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.360-363
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• 1993

Fuzzy Logic Control immitating human decision making process is a novel control strategy based on expert's experience and knowledge and many process designers are developing its applications. But it is difficult to obtain a set of rules from human operator. And there is a limitation on adjusting to environmental changes. In this paper, we proposed adaptive fuzzy algorithm to overcome these difficulties using weights added to the rules. To verify the validity of this control strategy, we have implemented this algorithm for a DC servo motor with PD-type fuzzy controller.

• 대한기계학회논문집A
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• 제21권12호
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• pp.2081-2089
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• 1997

Accurate positioning of the throttle valve of a gasoline engine is required to implement various systems such as traction control system(TCS), cruise control system and drive-by-wire system. In this research, position control system has been developed for the throttle actuator system that uses one throttle actuation for small volume and DC servo motor for fast response. In order to drive the DC motor, PWM signal generator and PWM amplifier were built and interfaced to the motor and controller. Also, time delay control(TDC) law has been used as a basic control algorithm. A method of varying the reference model of the TDC according to the size of change in target throttle angle is proposed here. The simulation and experimental results show that both overshoot prevention and fast response are achieved by the TDC technique with this variable reference model.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2018년도 추계학술대회
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• pp.538-539
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• 2018

본 논문에서는 오픈 소스 컴퓨터 비전 라이브러리 중 하나인 OpenCV를 사용하여 차선 인식 기능을 구현한 내용을 정리하였다. ARM 프로세서 기반인 Raspberry Pi 3 보드에 Linux 운영체제인 Rasbian(r18.03.13)을 탑재하였고, 영상처리를 수행하기 위해 Raspberry Pi Camera를 사용하였다. 차선인식을 구현하기 위해서 OpenCV 라이브러리에 구현된 Canny Edge Detection, Hough Transform 알고리즘을 사용하였고, 소실점(Vanishing Point)의 흔들림을 방지하고 원하는 직선만을 검출하도록 RANSAC 알고리즘을 사용하였다. 또한, 검출된 차선에 따라 자동차가 주행하도록 DC모터와 Servo모터를 제어하였다.

• 대한전자공학회논문지
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• 제26권4호
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• pp.35-44
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• 1989

본 논문에서는 모델과 플랜트의 완전 모델 추종 제어 조건이나 명확한 매개변수 추정자를 필요로 하지않는 직접적응제어방식을 이용한 직류전동기의 정밀속도 제어장치가 제안되었다. MC-68000 microcomputor를 이용한 실제적 시스템뿐만 아니라 컴퓨터 시뮬레이션 역시 이산적인 직접적응제어 알고리듬으로 구성되었으며, 전동기의 출력이 부하에 의한 외란과 매개변수의 변동에서도 기준 입력을 잘 추동함을 알 수 있었다. 적용된 알고리듬은 소프트웨어와 하드웨어적으로 모두 간단하며 효과적인 특성을 가지고 있다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2167-2169
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• 2003

The LQG regulator presented in this dissertation is designed to improve system stability with the structure in which Kalman Filters and LQ regulator are inter-connected to avoid disturbances on the system. For the sake of performance evaluation of the LQG regulator in this dissertation, the regulator is put in use for the speed control of DC Servo Motors without speed sensors on them to realize speed control without sensors by estimating uncertain speed with its state signals and to construct an optimal controller using the LQG regulator. Furthermore, state estimation process with white noise entered onto the systems is been experimented through a series of simulation. As a consequence, the process of estimating speed signals out of the signals with white noise inputs is confirmed using Kalman Filter.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2012년도 전력전자학술대회 논문집
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• pp.311-312
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• 2012

Blade pitch control system monitors and adjusts angle of the blades and controls rotation speed of blades. This paper shows 2MW pitch system hardware and electric part. Blade pitch system consists of pitch drive, gear box, motor and energy storage. Fieldbus is base on CANopen protocol. Fail-Safe system moves the blades to a safety position in case of any fault condition. The super capacitor energy storage provides emergency back up to the Pitch servo driver during feathering the blades. This paper studied Blade pitch servo driver and a bi-directional DC-DC converter for fail-safe system.

• 제어로봇시스템학회논문지
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• 제14권4호
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• pp.385-391
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• 2008

To effectively cope with a complexity of kinematic metrology due to workspace enlargement of the planar stage, the linear induction motor is suggested as its new driving source. Especially, the linear induction motor under uniform plate type of secondary doesn't inherently have a periodical force ripple which is generally shown in the brushless DC motor. But, it presents a poor transient characteristic at zero or low speed zone owing to time delay of flux settling, resulting in slow response. To improve the servo property of linear induction motor and apply successfully it to the precision stage, this paper discusses a modified vector control methodology. The controller has a novel input form, fixed d-axis current, q-axis current and forward-fed DC current, to control thrust force and normal force of the linear induction motor independently. Influence of the newly introduced input and the feasibility of controller are validated experimentally.

• 수산해양기술연구
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• 제27권1호
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• pp.69-74
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• 1991

The Variable Structure System(VSS) will be of much intrest to educators and design engineers who wish to demonstrate and investigate sophisticated position control methods and their applications. This paper describes DC motor position control by means of VSS concept. The control scheme is derived, implemented and tested in the laboratory where IBM AT computer has been used as a digital controller to control a representative servo system. The control system schematic is given and sample results are shown for illustration. This experiment may serve as a basis for further application of VSS.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.775-778
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• 1996

In this research, the robustness of a seam tracking for the automatic welding system is studied. The laser displacement sensor is used as a seam finder. X-Y moving table drived by ac servo motor controls the position and velocity of the torch-and-sensor part. However, dc servo motor is used to control the position and velocity of the torch. The sensor locates ahead of torch to preview the weld line, and brings about the inaccuracy on the torch tracking. To enhance the robustness on this system against the influence of disturbances and model uncertainty, H$\_$.inf./ control is applied to the angular motion of torch. The simulation shows that the tracking accuracy improved significantly. Also, experimental results give a good performance of H$\_$.inf./ control strategy to the automatic seam tracking system for the welding.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.729-733
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• 1997

Due to the variety of disturbance, it is not ease to accomplish the in-process detection of weld line with non-contact sensor. To get around this difficulties problem develop an automatic seam tracking weld system, the reliable signal processing algorithm has been recommanded. In this research, laser displacement sensor is applied as a seam finder in the automatic tracking system. The sensor is controlled by a dc servo motor which is mounted at X-Y moving table. X-Y moving table manipulated by an ac servo motor controls the position and velocity of the welding torch. First, X-Y table moves to Y-axis to search the welding joint feature before starting the welding, and welding joint is from the scanning data and weighting factor for each other. Second, weld line is determined using proposed signal processing algorithm during welding process. Form the experimental results, we could see the possibility that laser displacement sensor with procesed algorithm can be used as a seam finder in welding process under the severe noise (spatter,arc light etc.) condition