• 제목/요약/키워드: Dynamic tuning

검색결과 290건 처리시간 0.031초

고성능 유도전동기 구동을 위한 자동 튜닝 Anti-windup 기법 (Tuning-free Anti-windup Strategy for High Performance Induction Machine Drives)

  • 석줄기;이동춘
    • 전력전자학회논문지
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    • 제10권1호
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    • pp.29-37
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    • 2005
  • 본 논문에서는 PI형태의 속도제어기를 장착한 고성능 유도전동기의 조건부 적분형 자동 튜닝 anti-windup 기법을 제안한다. 제안된 방법에서는 전동기 운전 조건에 대한 사전 정보 없이도 전동기 토오크 지령의 주파수 해석에 의해서 적분기 온/오프 시점이 결정된다. 따라서, 사용자는 anti-windup 동작을 위한 별도의 제어 상수를 설정하지 않아도 된다. 또한, 동작 조건이 변동하여도 과도 상태의 속도는 항상 최소한의 오버슈우트와 점착시간을 가지도록 동작한다. 본 기법은 속도 및 토오크 응답의 오버슈우트를 허용하지 않는 유도전동기 고성능 응용 분야에 유용하게 적용 될 수 있으며, 기본 개념은 화학 공정이나 산업용 로봇과 같은 일반 산업 응용 분야에도 확대 적용 가능하다.

수평형 마이크로 자이로스코프의 비어링 현상 및 동특성 (Veering Phenomena and Dynamic Characteristics in Lateral Micro-Gyroscope)

  • 정호섭;박규연
    • 소음진동
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    • 제11권1호
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    • pp.132-140
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    • 2001
  • The vibratory gyroscope can effectively measure the angular velocity as the oscillating and position-sensing mode are exactly tuned. The veering Phenomenon impedes the exact tuning, which is caused by the mode coupling of two modes. In this paper, the gyroscope's structure with two frames is introduced to minimize the veering phenomenon that destabilizes the tuning process of oscillating and position-sensing mode. Experimental results show that the Proposed structure can achieve the mode intersection without veering phenomenon.

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신경망을 이용한 이동로봇의 자기동조 제어기 설계 (Design of Mobile Robot Auto-Tuning Controller Using Nueal Networks)

  • 김동욱;곽일두;이양우
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2004년도 하계학술대회 논문집 D
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    • pp.2501-2503
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    • 2004
  • In this paper, we propose an auto-tuning control algorithm for a mobile robot. This controller consists of a three layer neural networks and a PID controller. In order to compensate for uncertainties from unknown dynamics and ignored dynamic effects such as slip conditions, neural network based position schemes are proposed. The results of simulations show the validity of proposed method. This controller learns quickly the model and has good position control performance.

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극점 배치 자기 동조에 의한 로보트 매니퓰레이터 제어 (Pole placement self-tuning control of robot manipulators)

  • 이종용;양태규;이상효
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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    • pp.32-35
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    • 1987
  • An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonlinearties and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which combines the pole placement with the extended linearized perturbation model. And this control scheme has two components: a feadforward control and a feedback compensation control. Based on this, the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

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적응 극점 배치 및 자기동조 제어 방법에 의한 로보트 매니퓰레이터 제어 (Adaptive Pole-Placement and Self-Tuning Control for a Robotic Manipulator)

  • 이상효;양태규
    • 대한전기학회논문지
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    • 제37권9호
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    • pp.655-662
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    • 1988
  • An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a deired trajectory in spite of the presence of nonlinearies and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which controls the extended linearized perturbaton model via the pole placement, and this control. The feasibility of the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

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Gain Tuning of PID Controllers with the Dynamic Encoding Algorithm for Searches(DEAS) Based on the Constrained Optimization Technique

  • Kim, Jong-Wook;Kim, Sang-Woo
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.13-18
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    • 2003
  • This paper proposes a design method of PID controllers in the framework of a constrained optimization problem. Owing to the popularity for the controller's simplicity and robustness, a great deal of literature concerning PID control design has been published, which can be classified into frequency-based and time-based approaches. However, both approaches have to be considered together for a designed PID control to work well with a guaranteed closed-loop stability. For this purpose, a penalty function is formulated to satisfy both frequency- and time-domain specifications, and is minimized by a recet nonlinear optimization algorithm to attain optimal PID control gains. The proposed method is compared with Wang's and Ho's methods on a suite of example systems. Simulation results show that the PID control tuned by the proposed method improves time-domain performance without deteriorating closed-loop stability.

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Intelligent Tuning of a PID Controller Using Immune Algorithm

  • Kim, Dong-Hwa;Kaoru Hirota
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2001년도 ICCAS
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    • pp.91.5-91
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    • 2001
  • This paper suggests that the immune algorithm can effectively be used in tuning of a PID controller. The artificial immune network always has a new parallel decentralized processing mechanism for various situations, since antibodies communicate to each other among different species of antibodies/B-cells through the stimulation and suppression chains among antibodies that form a large-scaled network. In addition to that, the structure of the network is not fixed, but varies continuously. That is, the artificial immune network flexibly self-organizes accord Eng to dynamic changes of external environment (meta-dynamics function). However, up to the present time, models based on the conventional crisp approach have been used to describe dynamic model relationship between antibody and antigen. Therefore, there are some problems ...

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Advanced Process Control of the Critical Dimension in Photolithography

  • Wu, Chien-Feng;Hung, Chih-Ming;Chen, Juhn-Horng;Lee, An-Chen
    • International Journal of Precision Engineering and Manufacturing
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    • 제9권1호
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    • pp.12-18
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    • 2008
  • This paper describes two run-to-run controllers, a nonlinear multiple exponential-weight moving-average (NMEWMA) controller and a dynamic model-tuning minimum-variance (DMTMV) controller, for photolithography processes. The relationships between the input recipes (exposure dose and focus) and output variables (critical dimensions) were formed using an experimental design method, and the photolithography process model was built using a multiple regression analysis. Both the NMEWMA and DMTMV controllers could update the process model and obtain the optimal recipes for the next run. Quantified improvements were obtained from simulations and real photolithography processes.

AUTOMATIC TUNING OF FUZZY OPTIMAL CONTROL SYSTEM

  • Hoon-Kang;Lee, Hong-Gi-;Kim, Yong-Ho-;Jeon, Hong-Tae
    • 한국지능시스템학회:학술대회논문집
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    • 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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    • pp.1195-1198
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    • 1993
  • We investigate a systematic design procedure of automated rule generation of fuzzy logic based controller for uncertain dynamic systems such as an engine dynamic model.“Automated Tuning”means autonomous clustering or collection of such meaningful transitional relations in the state-space. Optimal control strategies are included in the design procedures, such as minimum squared error, minimum time, minimum energy or combined performance criteria. Fuzzy feedback control systems designed by the cell-state transition method have the properties of closed-loop stability, robustness under parameter variabtions, and a certain degree of optimality. Most of all, the main advantage of the proposed approach is that reliability can be potentially increased even if a large grain of uncertainty is involved within the control system under consideration. A numerical example is shown in which we apply our strategic fuzzy controller design to a highly nonlinear model of engine idle speed contr l.

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PID제어기의 자기동조를 이용한 직류 서보전동기의 위치제어 (Control of DC Servo Motor using PID Controller Self-Tuning)

  • 김권섭;이오걸;김상효;고태언
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1996년도 하계학술대회 논문집 B
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    • pp.1113-1115
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    • 1996
  • The servo system requires faster and more accurate dynamic responses. A new technique for the position control of DC servo motors is presented in this paper. The proposed technique employs a Self Tuning Regulator Proportional Integral Derivative(STR PID) position control systems in order to improve the dynamic performance of a DC servo motor. Recursive -least -squares (RLS) method is used in order to estimate the STR PID coefficients, $K_P$, $K_I$, and $K_D$. In order to consider dynamics such as voltage, angular velocity, and rotor angle, the above method was applied position control system.

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