• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1212-1219
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• 2010

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the technical trends and environment of the automated container terminal, it is necessary that the systems for cargo handling are equipped with more intelligent control technologies. To cope with this tendency, from the middle of the 1990's, the automated RMGC (Rail-Mounted Gantry Crane) and RTGC (Rubber-Tired Gantry Crane) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. If we want to obtain more efficient handling performance, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control problems must be considered in the control system design and application process. Considering these problems, in this paper, the system modelling with the tire slip and a tracking control approach are proposed. Especially, we design the tracking control system based on the 2DOF servosystem design approach to cope with undesirable disturbance input. The experiment results show the desirable performance and usefulness of the designed control system.

• Journal of Drive and Control
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• v.16 no.4
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• pp.56-64
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• 2019

Recently, as the environmental regulation for earth moving equipment has been tightened, advanced systems using electronic control have been introduced for energy savings. An IMV(Independent Metering Valve), which consists of four 2-way valves, is one of the electro-hydraulic control systems that provides more flexible controllability and potential for energy savings in excavators, when compared to the conventional 4-way spool valve system. To fully realize an IMV, a two-stage bi-directional flow control valve which can regulate the large amount of flow in both directions, should be developed in advance. A simple design that allows proportional flow control to apply the pilot pressure from the current-controlled solenoid to the spring loaded flow control spool and thus valve displacement, is proportional to the solenoid current. However, this open-loop type valve is vulnerable to flow force which directly affects the valve displacement. Force feedback servo of which the position loop is closed by the feedback spring which interconnects the solenoid valve and flow control spool, could compensate for the flow force. In this study, linearity for the solenoid current input and robustness against load pressure disturbance is investigated by linear analysis of the static nonlinear equations for the IMV proportional flow control valve with feedback spring. Gains of the linear system confirm the performance improvement with the feedback spring design.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.4
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• pp.540-547
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• 2009

In the near future, military robots are likely to be substituted for military personnel in the field of battle. The power system of a legged robot is considerably more complex than the one used for a land vehicle because of the coordination and stability issues due to the large number of degree of freedom. In this paper, a servovalve-piston combination system for a straight-line motion of robot leg is modeled as three degree of freedom based on double inputs and single output transfer function. The output is the displacement of piston from neutral. The inputs are valve displacement from neutral and arbitrary load force in this system. LQR(Linear Quadratic Regulator) technique is applied in order to achieve robust stability and fast responses of the system. The Kalman filter loop, rejection of disturbance and noise, riccati equation, filter gain matrix, and frequency domain equality are analyzed and designed.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.225-230
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• 1992

In this paper, a new learning fuzzy logic controller(LFLC) is presented. The proposed controller is composed of the main control part and the learning part. The main control part is a fuzzy logic controller(FLC) based on linguistic rules and fuzzy inference. For the learning part, artificial neural network(ANN) is added to FLC so that the controller may adapt to unknown plant and environment. According to the output values of the ANN part, which is learned using error back-propagation algorithm, scale factors of the FLC part are determined. These scale factors transfer the range of values of input variables into corresponding universe of discourse in the FLC part in order to achieve good performance. The effectiveness of the proposed control strategy has been demonstrated through simulations involving the control of an unknown robot manipulator with load disturbance.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.1
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• pp.52-58
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• 2005

Among various modern control theories, PID control has been well used for several decades. PID algorithms need some tuning methods which are used for selecting PID parameters. But in some cases various kinds of performance indices are used instead of well-known tuning rules, and so variable type of performance index must be tested so that controllers, output characteristics and disturbance rejection property meet some specifications. In this paper, linear conbinational type of performance index using error signal, time, control input and robustness is used to the PID control of air conditioning system. By use of the 2 DOF PID parmeters minimizing perfromacne index controllers, output characteristics and robustness properties are analyzed. Simulations are done by use of MATLAB with Simulink.

• Journal of Mechanical Science and Technology
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• v.18 no.1
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• pp.45-54
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• 2004

In order to meet the requirement for higher thickness accuracy in cold rolling processes, it is strongly desired to have high performance in control units. To meet this requirement, we have considered an output regulating control system with a roll-eccentricity estimator for each rolling stand of tandem cold mills. Considering entry thickness variation as well as roll eccentricity as the major disturbances, a synthesis of multivariable control systems is presented based on H$\sub$$\infty$/ control theory, which can reflect the knowledge of input direction and spectrum of disturbance signals on the design. Then, to reject roll eccentricity effectively, a weight function having some poles on the imaginary axis is introduced. This leads to a non-standard H_ control problem, and the design procedures for solving this problem are analytically presented. The effectiveness of the proposed control method is evaluated through computer simulations and compared to that of the conventional LQ control and feedforward control methods for roll eccentricity.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.506-506
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• 2000

To improve control performance of a non-linear system, many other researches have used the sliding mode control algorithm. The sliding mode controller is known to be robust against nonlinear and unmodeled dynamic terms. However. this algorithm raises the inherent chattering caused by excessive switching inputs around the sliding surface. Therefore, in order to solve the chattering problem and improve control performance, this study has developed the sliding mode controller with a perturbation estimator using the observer-based fuzzy adaptive network generates the control input for compensating unmodeled dynamics terms and disturbance. And, the weighting parameters of the fuzzy adaptive network are updated on-line by adaptive law in order to force the estimation errors to converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluating control performance of the proposed approach. tracking control simulation is carried out for the hydraulic motion simulator which is a 6-degree of freedom parallel manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.45-55
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• 1998

In this paper, a robust path tracker and depth controller of Autonomous Underwater Vehicle based on sliding mode control is presented. We have also designed augmented equivalent control inputs by analyzing the sliding mode with the reaching mode. This can enhance the reaching rate, and improve chattering problems, that is, noise caused by the control plane actuator of the vehicle, which is one of the problems that occur when sliding mode control is used. Also to resolve the steady state error generated in the path tracker under current effect, a modified sliding plane is constructed. Also a redesigned sliding plane and control input using transformation matrix is proposed to do easy design of MIMO depth controller. For state variables that cannot be measured directly, reduced order sliding mode control is used to design an observer. The performance of designed path tracker and depth controller is investigated by computer simulation. The results show that the proposed control system has robust performance to parameter variation, modelling error and disturbance.

• Journal of Power System Engineering
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• v.7 no.3
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• pp.48-53
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• 2003

This paper deals with the control of a horizontally placed flexible rotor levitated by electromagnets in a multi-input/multi-output (MIMO) active magnetic bearing(AMB) system. AMB is a kind of novel high performance bearing which can suspend the rotor by magnetic force. Its contact-free manner between the rotor and stator results in it being able to operate under much higher speed than conventional rolling bearings with relatively low power losses, as well as being environmental-friendly technology for AMB system having no wear and no lubrication requirements. In this MIMO AMB system, the rotor is a complex mechanical system, it not only has rigid body characteristics such as translational and slope motion but also bends as a flexible body. Reduced order nominal model is computed by consideration of the first 3 mode shapes of rotor dynamics. Then, the $H_{\infty}$ control strategy is applied to get robust controller. Such robustness of the control system as the ability of disturbance rejection and modeling error is guaranteed by using $H_{\infty}$ control strategy. Simulation results show the validation of the designed control system and the modeling method to the rotor.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.8
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• pp.145-155
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• 1998

An $H{\infty}$ controller with a roll eccentricity filter is proposed to alleviate the effect of entry thickness variation and roll eccentricity occured in rolling stands themselves of tandem cold mills. A robust controller to the disturbances is designed by H$_{\infty}$ control techniques, which can reflect the input direction of disturbances and the knowledge of disturbance spectrum in the frequency domain. First, fundamental problems in tandem cold mills such as process transport delay inherent in the exit thickness measurement and the feedforward loading of roll eccentricity signals on the exit thickness be overcome by the roll eccentricity filtering and the compensation for the error of gaugemeter thickness estimator. And non-satndard $H{\infty}$ control problem caused by the selection of weighting function having poles on the $J{\omega}$-axis is discussed. The resultant controller composed by an $H{\infty}$ controller and an estimator for the roll eccentricity is evaluated through computer simulations. The effectiveness of the proposed control method is compared to that of the conventional LQ controller method and a feedforward controller for the roll eccentricity, which has been already studied.