• Journal of the Korean Society for Precision Engineering
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• v.29 no.11
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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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• 2003.10a
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• pp.1371-1376
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• 2003

In the thermal power plant, the main steam temperature is typically regulated by the fuel flow rate and the spray flow rate, and the reheater steam temperature is regulated by the gas recirculation flow rate. However, Strictly maintaining the steam temperature can be difficult due to heating value variation to the fuel source, time delay changes in the main steam temperature, the change of the dynamic characteristics in the reheater. Up to the present time, PID Controller has been used to operate this system. However, it is very difficult to achieve an optimal PID gain with no experience, since the gain of the PID controller has to be manually tuned by trial and error. This paper focuses on tuning of the 2-DOF PID Controller on the DCS for steam temperature control using immune based multiobjective approach. The stable range of a 2-DOF parameter for only this system could be found for the start-up procedure and this parameter could be used for the tuning problem. Therefore tuning technique of multiobjective based on immune network algorithms in this paper can be used effectively in tuning 2-DOF PID controllers.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.885-890
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• 2004

Strictly maintaining the steam temperature can be difficult due to heating value variation to the fuel source, time delay changes in the main steam temperature, the change of the dynamic characteristics in the reheater. Up to the present time, PID Controller has been used to operate this system. However, it is very difficult to achieve an optimal PID gain with no experience, since the gain of the PID controller has to be manually tuned by trial and error. This paper focuses on tuning of the Controller with disturbance rejection for thermal power plant using immune based multiobjective approach. An ITSE(Integral of time weighted squared error) is used to decide performance of tuning results.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.990-993
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• 1988

RMFC (Resolved Motion Force Control) is the method to control the Cartesian force and position using FCC (Force Convergent Control) instead of the complicated dynamic equations of the manipulator. The gain parameters of the controller are adjusted through many trial and errors. In this paper PD-optimal control method is introduced to give optimal gain parameters which minimize the difference between actural acceleration and desired acceleration. To show the validitiesn of the proposed method computer simulations are performed for the two-link manipulator.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.232-236
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• 2000

To provide model parameters for servo control system design, dynamic characteristics of a piezoelectric microactuator for hard disk drive(HDD) were investigated. At first frequency response characteristics was measured and a second order model was proposed. Here the amplitude dependent dynamic characteristics such as low frequency gain and damping ratio were studied. In addition, the load current and equivalent impedance of the piezoelectric actuator were measured by varying excitation voltage and frequency. At last, the super-harmonic resonance of the piezoelectric actuator was discussed.

• International Journal of Precision Engineering and Manufacturing
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• v.7 no.1
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• pp.62-66
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• 2006

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized learning control based on adaptive control method. The original motivation of the learning control field was learning in robots doing repetitive tasks such as an assembly line works. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Some techniques will show up in the numerical simulation for vertical dynamic robot. The methods of learning system are shown for the iterative precision of each link.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.4
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• pp.92-98
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• 2005

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized teaming control based on adaptive control method. The original motivation of the teaming control field was loaming in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Some techniques will show up in the numerical simulation for vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link.

• 전자공학회논문지 IE
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• v.46 no.4
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• pp.73-77
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• 2009

This paper presents the trajectory tracking control for mobile robot. The designed controller consists of kinematic and dynamic controller. Kinematic controller has two gains and it reduces the trial time for gain setting as compared convectional controller with three gains. Dynamic controller includes the compensation of friction and disturbance. It can improve the performance of the trajectory tracking under the various environment. Simulation results shows that the proposed controller has a stable performance.

• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.56-69
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• 2005

In this paper, it is clearly shown that the two well-known necessary and sufficient conditions mp n as generic static output feedback pole-assignment and mp + d(m+p) n+d as generic minimum d-th order dynamic output feedback pole-assignment on complex field, unbelievably, do not match up each other in strictly proper linear systems. For the analysis, a diagram analysis is newly created (which is defined by the analysis of 'convoluted rectangular/dot diagrams' constructed via node-branch conversion of the signal flow graphs of output feedback gain loops). Under this diagram analysis, it is proved that the minimum d-th order dynamic output feedback compensator for pole-assignment in m-input, p-output, n-th order systems is quantitatively decomposed into static output feedback compensator and its associated d number of arbitrary 1st order dynamic elements in augmented (m+d)-input, (p+d)-output, (n+d)-th order systems. Total configuration of the mismatched data is presented in a Table.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.5
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• pp.924-930
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• 2015

In this paper, we propose a novel approach of low computational complexity to improve the speech quality of the small acoustic equipment in noisy environment. The conventional gain control algorithm suppresses the noise of input signal, and then the part of wide dynamic range compression (WDRC) amplifies the undesired signal. The proposed algorithm controls the gain of hearing aids according to speech present probability by using the output of a voice activity detection (VAD). The performance of the proposed scheme is evaluated under various noise conditions by using objective measurement and yields superior results compared with the conventional algorithm.