• 제목/요약/키워드: I-PD Control

검색결과 108건 처리시간 0.027초

신경망 전치보상기를 갖는 확대 I-PD제어기의 설계 (The design of the expanded I-PD Controller with the Neuro-precompensator)

  • 하홍곤
    • 한국정보통신학회논문지
    • /
    • 제4권3호
    • /
    • pp.619-625
    • /
    • 2000
  • 많은 제어기법들이 이산시간영역제어계의 제어성능을 개선시키기 위해서 제안되고 있다. 위치제어계에서 일반적으로 제어기의 출력이 제어대상의 입력으로 사용된다. 그러나 불필요한 잡음이 제어기의 출력에 포함된다. 그러므로 이러한 잡음을 제거하기 위해서 전치보상기를 사용할 필요가 있다. 본 논문에서 전치보상기를 갖는 확대 I-PD 제어계를 구성하였고 이 전치보상기와 I-PD 제어기를 신경망으로 설계하였다. 그리고 전치보상기와 I-PD제어기의 계수들이 계의 응답특성들이 어떤 조건 하에서 변할 때 계의 희망하는 응답이 되도록 자동적으로 조정되도록 하였다.

  • PDF

구동장치의 정밀한 위치제어를 위한 구동제어기법에 대한 해석적 연구 (An Analytical Study on Control Algorithm for the Precise Position Control of the Actuator System)

  • 안원근
    • 한국추진공학회지
    • /
    • 제20권4호
    • /
    • pp.19-25
    • /
    • 2016
  • 모터와 기어를 적용한 구동장치를 이용하여 정밀한 위치제어를 수행하기 위하여 I-PD 제어기법과 이중루프를 시스템에 적용한다. I-PD 제어기법은 과도응답 시 오버슛을 줄이는 동작을 수행함으로써 정밀한 위치 추종 결과를 얻는다. 또한 두 개의 센서와 이중루프를 이용하여 기어 시스템의 end play 성분에 의해 발생할 수 있는 위치추종에 대한 악영향을 저감하여 구동장치가 정밀한 위치추종을 할 수 있도록 한다. 본 연구에서는 이러한 개념을 설명하고, 동특성 변화에 의한 위치추종 결과를 확인하기 위하여 BLDC 모터와 기어를 적용한 구동장치 모델을 이용하여 시뮬레이션 결과로 검증하였다.

오차적분 적용계수를 이용한 PD+I 퍼지제어기 (PD+I Fuzzy Controller Using Error-Accumulating Applying Factor)

  • 전경한;이연정;최봉열
    • 제어로봇시스템학회논문지
    • /
    • 제8권3호
    • /
    • pp.193-198
    • /
    • 2002
  • In this paper, we Propose a PD+I fuzzy controller using an error-accumulating applying factor. In fuzzy control, analytical study was done formerly, in which fuzzy control can be classified by PD type and PI type, and also the study for getting merits of both types was done, too. But the mixed type has a complex structure and many parameters. The proposed fuzzy controller is 2-input 2-out-put and PD type fuzzy control is used as a basic structure. And the proposed controller annihilates a steady-state error and improves transient responses because of using the error-accumulating applying factor which is determined in the real time along the current state of controlled process. Futhermore it is easy to tune the system because of decreasing the number of scaling factors and the I type controller with resetting resolves the integral wind-up problem. Finally we apply the proposed scheme to various plants and show the performance betterment.

I-PD 제어계에서 모델추종제어를 위한 전치보상기의 설계 (The Design of a Pre-Compensator for the Model-Following Control in the I-PD Control System)

  • 하홍곤
    • 조명전기설비학회논문지
    • /
    • 제18권6호
    • /
    • pp.84-90
    • /
    • 2004
  • 제어계에서 제어성능을 개선시키기 위해서 많은 제어기법들이 제안되어왔다. 궤환제어계에서 일반적으로 제어기의 출력이 제어대상의 입력으로 사용된다. 그러나 불필요한 잡음이 제어기의 출력에 포함된다. 그러므로 이러한 잡음을 제거하고 계의 응답특성을 개선시키기 위해서 전치보상기를 사용할 필요가 있다. 본 논문에서는 모델추종제어를 위한 전치보상기의 설계법을 I-PD 제어계에서 제안하였다. 제안한 전치보상기를 신경망으로 구현하였고, 계의 응답특성이 어떤 조건하에서 변할 때 원하는 응답이 되도록 전치보상기의 이득이 자동적으로 조정되도록 하였다.

A Vector-Controlled PMSM Drive with a Continually On-Line Learning Hybrid Neural-Network Model-Following Speed Controller

  • EI-Sousy Fayez F. M.
    • Journal of Power Electronics
    • /
    • 제5권2호
    • /
    • pp.129-141
    • /
    • 2005
  • A high-performance robust hybrid speed controller for a permanent-magnet synchronous motor (PMSM) drive with an on-line trained neural-network model-following controller (NNMFC) is proposed. The robust hybrid controller is a two-degrees-of-freedom (2DOF) integral plus proportional & rate feedback (I-PD) with neural-network model-following (NNMF) speed controller (2DOF I-PD NNMFC). The robust controller combines the merits of the 2DOF I-PD controller and the NNMF controller to regulate the speed of a PMSM drive. First, a systematic mathematical procedure is derived to calculate the parameters of the synchronous d-q axes PI current controllers and the 2DOF I-PD speed controller according to the required specifications for the PMSM drive system. Then, the resulting closed loop transfer function of the PMSM drive system including the current control loop is used as the reference model. In addition to the 200F I-PD controller, a neural-network model-following controller whose weights are trained on-line is designed to realize high dynamic performance in disturbance rejection and tracking characteristics. According to the model-following error between the outputs of the reference model and the PMSM drive system, the NNMFC generates an adaptive control signal which is added to the 2DOF I-PD speed controller output to attain robust model-following characteristics under different operating conditions regardless of parameter variations and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed 200F I-PD NNMF controller. The results confirm that the proposed 2DOF I-PO NNMF speed controller produces rapid, robust performance and accurate response to the reference model regardless of load disturbances or PMSM parameter variations.

외란에 강인한 I-PD 제어에 의한 LDM의 동특성 개선 (Improvement of Dynamic Characteristic of LDM by Using I-PD Algorithm)

  • 김상원;백수현;윤신용;명노용;장홍순
    • 대한전기학회:학술대회논문집
    • /
    • 대한전기학회 2000년도 하계학술대회 논문집 B
    • /
    • pp.754-756
    • /
    • 2000
  • In this paper, the I-PD control algorithm using the coefficient diagram method(CDM) controller design of the Linear DC Motor(LDM) is presented. Recently LDM has been used to obtain the fine results of the dynamic characteristic for straightly moving condition. The I-PD control algorithm has a robust response to force disturbance. The effectiveness of I-PD is shown by simulations and comparison with PID.

  • PDF

디지털 I-PD 위상 쉬프트 제어기를 가진 개선된 영전류.영전압 스위칭 공진형 컨버터의 설계 (The Design of an Improved ZCZVS Resonant Type Converter by Digital I-PD Phase-shift Controller)

  • 김영문;안인모;김해재;신동률;김동완
    • 대한전기학회:학술대회논문집
    • /
    • 대한전기학회 2000년도 학술대회 논문집 전문대학교육위원
    • /
    • pp.66-70
    • /
    • 2000
  • This paper deal with a design and a constant output power control of Zero Current Zero Voltage Switching(ZCZVS) resonant type DC-DC converter by a digital I-PD phase shift controller. When the DC-DC converter for a high density and a high effect control is operated in high speed switching, the switching loss and switching stress of the switching devices are increased. So, the ZCZVS method, which has the phase shift control with the digital I-PD controller, must be use in order to reduce its. And the constant output power voltage that controlled by the digital I-PD controller tracks a reference without steady state error in variable input voltage. The validity of control strategy that proposed is verified experimental results by the Digital Signal Processor TMS320C32.

  • PDF

전침자극과 경피신경전기자극이 흰쥐 좌골신경 압좌손상 후 척수내 GAP-43 발현에 미치는 영향 (The Effect of EA and TENS on GAP-43 Expression in Spinal Cord after Rat Sciatic Nerve Crush Injury)

  • 이현민;박은세;김민희;김석범;김동현;김진상
    • The Journal of Korean Physical Therapy
    • /
    • 제18권1호
    • /
    • pp.65-73
    • /
    • 2006
  • Purpose: The purpose of this study was to identify the effect of electroacupuncture(EA) and transcutaneous electric nerve stimulation(TENS) after sciatic nerve crush injury in rats. Methods: The EA for experimental group I (Exp I, n=15) and TENS for experimental group II (Exp II, n=15) was applied from post-injury day(PD) 1 to PD 14 after sciatic nerve injury using low frequency stimulator that gave electrical stimulation(15min/60Hz). In order observe the effect of EA and TENS, this study examined GAP-43 expression in rat lumbar spinal cord at the PD 1, PD 7 and PD 14. In addition, the stride length(SL) and toe out angle(TOA) were measured at the PD 7 and PD 4. Results; Exp I and Exp II had higher GAP-43 immunoreactivity than control group(PD 1, 7, 14). The SL of Exp I and Exp II were significantly higher than control group(PD 7, 14). The TOA of Exp I and Exp II were significantly lower than control group(PD 7, 14). Conclusion: EA and TENS application increased motor nerve recovery and expression of GAP-43 immunoreactivity after sciatic nerve crush injury. Therefore effect of TENS and EA had similar effect on nerve regeneration and functional recovery.

  • PDF

A learning control of DC servomotor using neural network

  • Kawabata, Hiroaki;Yamada, Katsuhisa;Zhong, Zhang;Takeda, Yoji
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
    • /
    • pp.703-707
    • /
    • 1994
  • This paper proposes a method of learning control in DC servomotor using a neural network. First we estimate the pulse transfer function of the servo system with an unknown load, then we determine the best gains of I-PD control system using a neural network. Each time the load changes, its best gains of the I-PD control system is computed by the neural network. And the best gains and its pulse transfer function for the case are stored in the memory. According the increase of the set of gains and its pulse transfer function, the learning control system can afford the most suitable I-PD gains instantly.

  • PDF

신경근전기자극이 체중 부하를 제거한 신생 흰쥐 골격근 조직의 MEF2C 및 VEGF 발현에 미치는 영향 (Influence of Neuromuscular Electrical Stimulation on MEF2C and VEGF Expression of Neonatal Rat Skeletal Muscle During Suspension Unloading)

  • 구현모;이선민
    • 한국전문물리치료학회지
    • /
    • 제14권1호
    • /
    • pp.28-36
    • /
    • 2007
  • The aim of this study was to identify the effect of suspension unloading (SU) and electrical stimulation upon the development of neonatal muscular system. For this study, the neonatal rats were randomly divided into three groups: a control group, an experimental group I, and an experimental group II. The SU for experimental group I and II was applied from postnatal day (PD) 5 to PD 30. The electrical stimulation for soleus muscle of experimental group IIwas applied from PD 16 to PD 30 using neuromuscular electrical stimulation (NMES), which gave isometric contraction with 10 pps for 30 minutes twice a day. In order to observe the effect of SU and ES, this study observed myocyte enhancer factor 2C (MEF2C) and vascular endothelial growth factor (VEGF) immunoreactivity in the soleus muscles at PD 15 and PD 30. In addition, the motor behavior test was performed through footprint analysis at PD 30. The following is the result. At PD 15, the soleus muscles of experimental group Iand II had significantly lower MEF2C, VEGF immunoreactivity than the control group. It proved that microgravity conditions restricted the development of the skeletal muscle cells at PD 15. At PD 30, soleus muscles of the control group and experimental group II had significantly higher MEF2C, VEGF, immunoreactivity than experimental group I. It proved that the NMES facilitated the development of the skeletal muscle cells. At PD 30, it showed that SU caused the decrease in stride length of parameter of gait analysis and an increase in toe-out angle, and that the NMES decreased these variations. These results suggest that weight bearing during neonatal developmental period is essential for muscular development. They also reveal that NMES can encourage the development of muscular systems by fully supplementing the effect of weight bearing, which is an essential factor in the neonatal developmental process.

  • PDF