• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.3
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• pp.6-12
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• 2011

Electric vehicles and robots are real-time distributed control systems composed of multiple drive subsystems using micro controller units. Each control subsystem should be modular, compact, power saving, interoperable and fault tolerable in order to be incorporated into the networked real-time distributed control system. Under the networked real-time distributed control the synchronization problem can be occurred to the position and orientation tracking control due to the load variance, mismatch and time delay between the multiple drive subsystems. This paper suggests two types of position synchronization control of the single link manipulators. One of them is composed of cross controller, Kalman filter and disturbance observer, and the other uses the generation of target trajectories to minimize the gradient vector of the scalar function which is composed of the sum of square errors between the reference input vector and the output vectors. The availability of the proposed control schemes is shown through the control experiments.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.2
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• pp.349-356
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• 2018

In this study, the synchronous control system is designed to restrain the speed difference generated between two propellers, namely, synchronous error in a dual electric propulsion system of unmanned surface vehicle, fish finder boat, etc. The control system based on coupling structure is composed of pre-filters and speed controllers for each propulsion system and a synchronous controller cross-coupled between two propulsion systems. The pre-filter and speed controller are designed in order that the propulsion system may follow the speed reference without overshoot and input saturation. And the synchronous controller is designed in consideration of damping and quickness of the synchronous controller system after analyzing effect of the skew disturbance and mismatched dynamic characteristics on synchronous error. Finally, the simulation results show that the designed control system is effective for elimination of synchronous error.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.11
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• pp.1055-1065
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• 2009

In this study, stability analysis of boundary layers on airfoils is performed by using parabolized stability equations(PSE). Boundary layer edge conditions are obtained by compressible inviscid flow calculations. Mean velocity and temperature profiles of the laminar boundary layer are obtained by solving compressible boundary layer equations in generalized curvilinear coordinates with fourth order accuracy in the wall normal direction. Laminar mean flow profiles are used as input data for PSE to investigate growth rates of disturbances and stability characteristics. For the cases of boundary layer on NACA0012 and HSNLF(1)-0213 airfoils at Mach number 0.5, growth rates with respect to disturbance frequencies and profiles of disturbance amplitude are investigated. The effect of angle of attack on stability characteristics are examined at both upper and lower surfaces. The neutral stability curves, effect of Mach number and effect of airfoil section shapes are also analyzed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.1
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• pp.387-392
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• 2020

This paper proposes a flow-rate control system for industrial valves. Industrial valves are used in piping systems to control the flow rate and pressure. In general, valves used in pipelines are classified into globe valves, butterfly valves, and ball valves according to the shape. Motor, hydraulic, and pneumatic systems are used for operating valves. The flow meter should measure the flow rate when configuring the flow-rate control system. On the other hand, because the flow rate of the valve can be expressed by flow coefficient, a control scheme is proposed using the pressure deviation, which measures at the front and rear of the valve. The transfer function for the valve, according to the control input, was estimated using the signal compression method. Based on the induced transfer function, the disturbance observer was designed to improve the command following the performance of the valve stem. The performance of the proposed control method is compared with the flow-rate control result using the flow meter used.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.6
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• pp.431-437
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• 2017

In this study, based on the RPS algorithm, the application results to an electrically controlled suspension system using previewed road information are presented. Reducing the excessive vibration induced by a disturbance transmitted to the system and secure its stability is a major issue. In particular, in the automotive industry, the demand is constantly being raised. A typical external disturbance causing vibration and instability of a vehicle is an irregular roadway surface that contacts a running vehicle tire. Therefore, obtaining such profile information is an important process. The RPS algorithm using a multi sensor system was constructed and implemented in a real car. Through experimental work using the RPS system included non-contact type optical sensors, it could robustly reconstruct the road input profiles from the intermixed data onto the vehicle's dynamic motion while traveling at an uneven roadway surface. A controller with a preview control was designed in the framework of a semi-active suspension system based on the 7 degrees of freedom full vehicle model. The control performance of the system was evaluated through simulations and the results were compared with the passive vehicle condition. These results highlight the feasibility of the presented control frame.

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.5
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• pp.867-874
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• 2024

In order to obtain good driving performance in motor control, measurement of the state required for control is necessary. It must also be able to compensate for nonlinear elements of the mathematical model of the motor and disturbances such as load variation. In this study, we design a Kalman filter that can effectively remove noise included in measurements. Kalman filters are effective in estimating the state of linear systems. The system model is feedback linearized by estimating nonlinear terms and load variation as disturbances and compensating them for the system control input. It can be shown that the Kalman filter and the disturbance observer can converge stably independently of each other. As a result of the state estimation, an angular velocity estimation error of within approximately 0.3 [%] and a constant load estimation error of within approximately 4 [%] were obtained.

• Journal of Biomedical Engineering Research
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• v.28 no.6
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• pp.768-776
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• 2007

A new type of the fluid circulation blood pressure simulator was proposed to enhance the blood pressure simulator used for the development and evaluation of automatic sphygmomanometers. Various pressure waveform of fluid flowing in the pipe was reproduced by operating the proportional control valve after applying a pressure on the fluid in pressurized oil tank. After that, appropriate fluid was supplied by operating the proportional control valve, which enabled to reproduce various pressure wave of the fluid flowing in the tube. To accomplish this work, the mathematical model was carefully reviewed in cooperating with the proposed simulator. After modeling the driving signal as input signal and the pressure in internal tube as output signal, the simulation on system parameters such as internal volume, cross-section of orifice and supply pressure, which are sensitive to dynamic characteristic of system, was accomplished. System parameters affecting the dynamic characteristic were analyzed in the frequency bandwidth and also reflected to the design of the plant. The performance evaluator of fluid dynamic characteristic using proportional control signal was fabricated on the basis of obtained simulation result. An experimental apparatus was set-up and measurements on the dynamic characteristic, nonlinearity, and rising and falling response was carried out to verify the characteristic of the fluid dynamic model. Controller was designed and thereafter, simulation was performed to control the output signal with respect to the reference input in the fluid dynamic model using the proposed proportional control valve. Hybrid controller combined with an proportional controller and feed-forward controller was fabricated after applying a disturbance observer to the control plant. Comparison of the simulations between the conventional proportional controller and the proposed hybrid simulator indicated that even though the former showed good control performance.

• International Journal of Automotive Technology
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• v.4 no.4
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• pp.181-191
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• 2003

Since the nonlinearity and uncertainties which inherently exist in vehicle system need to be considered in active suspension control law design, this paper proposes a new control strategy for active vehicle suspension systems by using a combined control scheme, i.e., respectively using a genetic algorithm (GA) based self-tuning PID controller and a fuzzy logic controller in two loops. In the control scheme, the PID controller is used to minimize vehicle body vertical acceleration, the fuzzy logic controller is to minimize pitch acceleration and meanwhile to attenuate vehicle body vertical acceleration further by tuning weighting factors. In order to improve the adaptability to the changes of plant parameters, based on the defined objectives, a genetic algorithm is introduced to tune the parameters of PID controller, the scaling factors, the gain values and the membership functions of fuzzy logic controller on-line. Taking a four degree-of-freedom nonlinear vehicle model as example, the proposed control scheme is applied and the simulations are carried out in different road disturbance input conditions. Simulation results show that the present control scheme is very effective in reducing peak values of vehicle body accelerations, especially within the most sensitive frequency range of human response, and in attenuating the excessive dynamic tire load to enhance road holding performance. The stability and adaptability are also showed even when the system is subject to severe road conditions, such as a pothole, an obstacle or a step input. Compared with conventional passive suspensions and the active vehicle suspension systems by using, e.g., linear fuzzy logic control, the combined PID and fuzzy control without parameters self-tuning, the new proposed control system with GA-based self-learning ability can improve vehicle ride comfort performance significantly and offer better system robustness.

• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.12
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• pp.1209-1218
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• 2016

In order to safely and speedily transport a load such as a large glass plate using four electric cylinders, the synchronous error outside the permitted range should not be continuously generated between the cylinders. In this study, a methodology of synchronous control which can be applied to synchronization of four or more cylinders is developed. The synchronous control system based on the decoupling structure is composed of a reference model, position and synchronous controllers in the respective cylinders. The reference model is used for calculating the decoupled synchronous error and control input for the each cylinder. The position controller of I-PD type is designed in order that the cylinder may follow the reference signal without overshoot and input saturation. And the synchronous controller of lead compensator is designed to achieve stable and accurate synchronization through loop shaping approach. Finally, the simulation results show that the synchronization between the four cylinders can be quickly and stably while each cylinder rod is transferred to the target point under torque disturbance.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.21 no.7
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• pp.103-108
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• 2007

Neural network is used in many fields of control systems currently. However, It is not easy to obtain input-output pattern when neural network is used for the system of a single feedback controller and it is difficult to get satisfied performance with neural network when load changes rapidly or disturbance is applied. To resolve these problems, this paper proposes a new mode to implement a neural network controller by installing a real object in place of activation function of Neural Network output node. As the Neural Network self adaptive control system is designed in simple structure neural network input-output pattern problem is solved naturally and real tin Loaming becomes possible through general back propagation algorithm. The effect of the proposed Neural Network self adaptive control algorithm was verified in a test of controlling the speed of a A.C. servo motor equipped with a high speed computing capable DSP (TMS320C32) on which the proposed algorithm was loaded.