• 제목/요약/키워드: Error Tolerance

검색결과 403건 처리시간 0.031초

DC 전동기의 강인 제어를 위한 PID-관리 복합형 제어기 (PID-Supervision Hybrid Controller for Robust Control of DC Motor)

  • 전정채;오훈;박왈서;조현섭;유인호
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1998년도 하계학술대회 논문집 A
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    • pp.244-246
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    • 1998
  • Robust control for DC motor is needed according to the highest precision of industrial automation. However when a motor control system with PID controller has an effect of load disturbance, it is very difficult to guarantee the robustness of control system. As a compensation method solving this problem, in this paper, PID-supervision hybrid control method for motor control system is presented. If the PID control system (without the supervisory controller) is stable in the sense that the error is inside the constraint set, the supervisory control is idle. If the error hits the boundary of the constraint, the supervisory controller begins operation to force the error back to the constraint set. We prove that the PID-supervision hybrid control system is globally stable in the sense that the error is guaranteed to be within the tolerance limits specified by the system designer.

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PID-자기동조 제어방식에 의한 DC 서보 전동기의 속도제어 (The Speed Control of a DC Servo Motor by the PID Self Tuning Control Method)

  • 조현섭;구기준
    • 한국산학기술학회논문지
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    • 제9권6호
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    • pp.1560-1564
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    • 2008
  • 산업 자동화의 고정밀도에 따라 직류 전동기는 강인제어가 요구되고 있다. 하지만 PID 제어기를 갖는 전동기 제어 시스템이 부하 외란의 영향을 받게되면 제어 시스템의 강인제어는 어렵게 된다. 이에 대한 보완적인 한 방법으로 본 논문에서는 전동기 제어시스템을 위한 PID-자기동조 제어기법을 제시하였다. 만약 오차가 구속영역 내에 있고, 시스템이 안정한 상태에 있다면 자기동조는 사용되지 않고 PID 제어기만 동작한다. 자기동조 제어기는 오차가 구속 경계에 도달하게 되면 오차를 구속 영역내로 들어가도록 제어를 시작한다. PID-자기동조 제어 시스템의 오차가 시스템 설계자의 허용한도 내에서 유지되고 전체적으로 안정함을 증명하였다.

PID-관리 복합형 제어기를 이용한 직류 전동기의 강인한 속도제어 (Robust Speed Control of DC Motor Using PID-Supervision Hybrid Controller)

  • 전정채;조현섭;박왈서
    • 조명전기설비학회논문지
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    • 제12권4호
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    • pp.70-74
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    • 1998
  • 산업 자동화의 고정밀도에 따라 직류 전동기는 강언제어가 요구되고 있다. 하지만 PID 제어기를 갖는 전동기 제어 시스템이 부하 외란의 영향을 받게되면 제어 시스템의 강인제어는 어렵게 된다. 이에 대한 보완적인 한 방법으로 본 논문에서는 전동기 제어시스템올 위한 PID-관리 복합형 제어기법을 제시하였다. 만약 오차가 구속영역 내에 있고, 시스템이 안정한 상태에 있다면 관리 제어기는 사용되지 않고 PID 제어기만 동작한다. 관리 제어기는 오차가 구속 경계에 도달하게 되면 오차를 구속 영역내로 들어가도록 제어를 시작한다. 우리는 PID-관리 복합형 제어 시스램의 오차가 시스템 설계자의 허용한도 내에서 유지되고 전체적으로 안정함을 증명하였다.

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커넥터 조립을 위한 강화학습 기반의 탐색 궤적 생성 및 로봇의 임피던스 강성 조절 방법 (Reinforcement Learning-based Search Trajectory Generation and Stiffness Tuning for Connector Assembly)

  • 김용건;나민우;송재복
    • 로봇학회논문지
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    • 제17권4호
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    • pp.455-462
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    • 2022
  • Since electric connectors such as power connectors have a small assembly tolerance and have a complex shape, the assembly process is performed manually by workers. Especially, it is difficult to overcome the assembly error, and the assembly takes a long time due to the error correction process, which makes it difficult to automate the assembly task. To deal with this problem, a reinforcement learning-based assembly strategy using contact states was proposed to quickly perform the assembly process in an unstructured environment. This method learns to generate a search trajectory to quickly find a hole based on the contact state obtained from the force/torque data. It can also learn the stiffness needed to avoid excessive contact forces during assembly. To verify this proposed method, power connector assembly process was performed 200 times, and it was shown to have an assembly success rate of 100% in a translation error within ±4 mm and a rotation error within ±3.5°. Furthermore, it was verified that the assembly time was about 2.3 sec, including the search time of about 1 sec, which is faster than the previous methods.

6 시그마와 총 오차 허용범위의 개발에 대한 연구 (A Study of Six Sigma and Total Error Allowable in Chematology Laboratory)

  • 장상우;김남용;최호성;김영환;추경복;정혜진;박병옥
    • 대한임상검사과학회지
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    • 제37권2호
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    • pp.65-70
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    • 2005
  • Those specifications of the CLIA analytical tolerance limits are consistent with the performance goals in Six Sigma Quality Management. Six sigma analysis determines performance quality from bias and precision statistics. It also shows if the method meets the criteria for the six sigma performance. Performance standards calculates allowable total error from several different criteria. Six sigma means six standard deviations from the target value or mean value and about 3.4 failures per million opportunities for failure. Sigma Quality Level is an indicator of process centering and process variation total error allowable. Tolerance specification is replaced by a Total Error specification, which is a common form of a quality specification for a laboratory test. The CLIA criteria for acceptable performance in proficiency testing events are given in the form of an allowable total error, TEa. Thus there is a published list of TEa specifications for regulated analytes. In terms of TEa, Six Sigma Quality Management sets a precision goal of TEa/6 and an accuracy goal of 1.5 (TEa/6). This concept is based on the proficiency testing specification of target value +/-3s, TEa from reference intervals, biological variation, and peer group median mean surveys. We have found rules to calculate as a fraction of a reference interval and peer group median mean surveys. We studied to develop total error allowable from peer group survey results and CLIA 88 rules in US on 19 items TP, ALB, T.B, ALP, AST, ALT, CL, LD, K, Na, CRE, BUN, T.C, GLU, GGT, CA, phosphorus, UA, TG tests in chematology were follows. Sigma level versus TEa from peer group median mean CV of each item by group mean were assessed by process performance, fitting within six sigma tolerance limits were TP ($6.1{\delta}$/9.3%), ALB ($6.9{\delta}$/11.3%), T.B ($3.4{\delta}$/25.6%), ALP ($6.8{\delta}$/31.5%), AST ($4.5{\delta}$/16.8%), ALT ($1.6{\delta}$/19.3%), CL ($4.6{\delta}$/8.4%), LD ($11.5{\delta}$/20.07%), K ($2.5{\delta}$/0.39mmol/L), Na ($3.6{\delta}$/6.87mmol/L), CRE ($9.9{\delta}$/21.8%), BUN ($4.3{\delta}$/13.3%), UA ($5.9{\delta}$/11.5%), T.C ($2.2{\delta}$/10.7%), GLU ($4.8{\delta}$/10.2%), GGT ($7.5{\delta}$/27.3%), CA ($5.5{\delta}$/0.87mmol/L), IP ($8.5{\delta}$/13.17%), TG ($9.6{\delta}$/17.7%). Peer group survey median CV in Korean External Assessment greater than CLIA criteria were CL (8.45%/5%), BUN (13.3%/9%), CRE (21.8%/15%), T.B (25.6%/20%), and Na (6.87mmol/L/4mmol/L). Peer group survey median CV less than it were as TP (9.3%/10%), AST (16.8%/20%), ALT (19.3%/20%), K (0.39mmol/L/0.5mmol/L), UA (11.5%/17%), Ca (0.87mg/dL1mg/L), TG (17.7%/25%). TEa in 17 items were same one in 14 items with 82.35%. We found out the truth on increasing sigma level due to increased total error allowable, and were sure that the goal of setting total error allowable would affect the evaluation of sigma metrics in the process, if sustaining the same process.

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WFA를 이용한 이미지 압축 알고리즘에 대한 분석 (Analysis on Image Compression using Weighted Finite Automata)

  • 엄준형;김태환
    • 한국정보과학회:학술대회논문집
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    • 한국정보과학회 2002년도 봄 학술발표논문집 Vol.29 No.1 (A)
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    • pp.727-729
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    • 2002
  • 본 논문에서 우리는 grey scale 영상을 weighted finite automata(WFA)로써 기술하는 두개의 알고리즘(2, 4)을 분석하였다. 또한 원영상과 WFA를 이용하여 압축된 영상간의 error를 분석하고 그 결과를 제시하였다. 구체적으로, 영상복원 tolerance $\delta$를 이용하여 찾아진 atomatone에 의해 복원된 영상과 원영상의 ι$^2$-norm의 차이가 $\delta$보다 작거나 같음을 증명하였다.

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비최소 위상 플랜트의 최소 위상 플랜트로의 균형 모델 저차화 (Balanced model reduction of non-minimum phase plant into minimum phase plant)

  • 구세완;권혁성;서병설
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.1205-1208
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    • 1996
  • This paper proposes balanced model reduction of non-minimum phase plant. The algorithm presented in this paper is to convert high-order non-minimum phase plant into low-oder minimum phase plant using balanced model reduction. Balanced model reduction requires the error bound that Hankel singular value produces. This algorithm shows the tolerance that admits the method of this paper.

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Electro-Optical and Switching Behavior of In-plane Switching Twisted Nematic Liquid Crystal Display

  • Kimura, Munehiro
    • 한국정보디스플레이학회:학술대회논문집
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    • 한국정보디스플레이학회 2003년도 International Meeting on Information Display
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    • pp.1092-1095
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    • 2003
  • A driving mechanism and excellent features for an in-plane switching twisted nematic liquid crystal mode (IT mode) that could possibly improve the viewing-angle and color shift characteristics and the cell gap error tolerance is proposed. .It is important that the surface azimuthal anchoring strength of the liquid crystal cell differs at the upper and lower substrates. Furthermore. as a rubbing-free LCD. amorphously aligned in-plane switching twisted nematic mode (a-IT mode) is also demonstrated.

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정상상태 추적편차를 고려한 가중행렬의 선택 (A method for deciding weighting matrices by considering a steady-state deviation in a LQ tracking problem)

  • 이진익;전기준
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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    • pp.473-476
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    • 1989
  • Quadratic weighting matrices have an effect on the transition and steady state responses in a LQ tracking problem. They are usually decided on trial and error in order to get a good response. In this paper a method is presented which calculates a steady - state deviation without solving Riccati equation. By using this method, a new procedure for selecting the weighting matrices is proposed when a tolerance on the steady - state deviation is given.

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신경제어기를 이용한 증류탑의 제어에 관한 연구 (A study of distillation column control by using a neural controller)

  • 이문용;박선원
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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    • pp.234-239
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    • 1990
  • A neural controller for process control was proposed that combines a simple feedback controller with a neural network. This control was applied to distillation control. The feedback error learning technique was used for on-line learning. Important characteristics on neural controller were analyzed. The proposed neural controller can cope well with strong interactions, significant time delays, sudden changes in process dynamics without any prior knowledge of the process. It was shown that the neural controller has good features such as fault tolerance, interpolation effect and random learning capability

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