• 제목/요약/키워드: Improved PID Controller

검색결과 132건 처리시간 0.026초

다구찌 방법을 이용한 고속/정밀 위치제어시스템의 PID 제어게인 선정에 관한 연구 (A Study on the PID Control Gain Selection Scheme of a High-Speed/High-Accuracy position Control System using Taguchi Method)

  • 신호준;채호철;한창수
    • 반도체디스플레이기술학회지
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    • 제1권1호
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    • pp.21-28
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    • 2002
  • This paper presents a dynamic modeling and a robust PID controller design process for the wire bonder head assembly. For modeling elements, the system is divided into electrical part, magnetic part, and mechanical part. Each part is modeled using the bond graph method. The PID controller is used for high speed/high accuracy position control of the wire bonder assembly. The Taguchi method is used to obtain the more robust PID gain combinations than conventional one. This study makes use of an L18 array with three parameters varied on three levels. Results of simulations and experimental show that the designed PID controller provides a improved ratio of signal to noise and a reduced sensitivity improved to the conventional PID controller.

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개선된 타부 탐색을 이용한 PID 제어기 설계 (Design of PID Controller using an Improved Tabu Search)

  • 이양우;박경훈;김동욱
    • 대한전기학회논문지:시스템및제어부문D
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    • 제53권5호
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    • pp.323-330
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    • 2004
  • In this paper, we propose a design method of PID controller using an improved Tabu Search. Tabu Search is improved by neighbor solution creation using Gaussian random distribution and generalized Hermite Biehler Theorem for stable bounds. The range of admissible proportional gains are determined first in closed form. Next the optimal PID gains are selected by improved Tabu Search. The results of Computer simulations represent that the proposed Tabu Search algorithm shows a fast convergence speed and a good control performance.

퍼지 동조 PID 제어기를 이용한 모형 헬리콥터의 개선된 3자유도 자세제어 (Improved 3-DOF Attitude Control of a Model Helicopter using Fuzzy-Tuning PID Controller)

  • 박문수;박덕기;정원재;김병두;홍석교
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2001년도 하계학술대회 논문집 D
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    • pp.2470-2472
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    • 2001
  • This paper describes the application of a fuzzy-tuning PID controller to a 3-DOF attitude control of a small model helicopter in hover for the compensation of coupling effects between each axis and system uncertainties due to the variation of engine RPM. A Low-level PID controller is designed by Ziegler-Nichols method and its gains are tuned by a high-level fuzzy system based on error states and its time derivatives. The experimental results show that the attitude control performance of fuzzy-tuning PID controller is improved comparing with that of a Ziegler-Nichols PID controller and fuzzy controller.

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무인 수중글라이더의 에너지 효율 개선을 위한 제어방법 개발 (Development of Control Method for Improving Energy Efficiency of Unmanned Underwater Gliders)

  • 나승규;고성협;지대형;천승재;정성훈;최형식;김준영
    • 한국항행학회논문지
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    • 제26권2호
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    • pp.105-112
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    • 2022
  • 본 논문의 무인 수중글라이더는 깊은 수심에서 작동하기 위해 설계되었고, 배터리 효율을 개선하기 위해 블래더 타입의 부력제어기를 채택하였고 내부 이동배터리의 움직임을 이용하여 피치각도를 제어하는 방식을 사용하고 있다. 무인 수중글라이더의 에너지 효율을 증대하기 위해 구간별로 제어를 수행하는 Layered PID 제어기를 설계하였으며, 유체동역학 계수를 포함한 6자유도 운동방정식을 전개하여 Matlab/Simulink 해석 프로그램을 설계하였다. 제어성능과 에너지 효율을 비교하기 위해 PID 제어기, 슬라이딩 모드 제어기 그리고 Layered PID 제어기를 해석 프로그램을 이용하여 비교 분석하였고 Layered PID 제어기가 PID 제어기에 비해 7.2%의 에너지 절감의 성능을 나타내었다.

고속/정밀 위치 제어 시스템의 강인한 제어게인 선정에 관한 연구 (A Study on the Robust Control Gain Selection Scheme of a High-Speed/High-Accuracy Position Control System)

  • 신호준;윤석찬;장진희;한창수
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2001년도 춘계학술대회논문집B
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    • pp.747-753
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    • 2001
  • This paper presents a dynamic modeling and a robust PID controller design process for the wire bonder head assembly. For the modeling elements, the system is divided into electrical system, magnetic system, and mechanical system. Each system is modeled by using the bond graph method. The PID controller is used for high speed/high accuracy position control of the wire bonder assembly. The Taguchi method is used to evaluate the more robust PID gain combinations. This study makes use of an L18 array with three parameters varied on three levels. Computer simulations and experimental results show that the designed PID controller provides more improved signal to noise ratio and reduced sensitivity than the conventional PID controller.

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칼만 필터를 이용한 개선된 PID 제어기 설계 (The Design of an Improved PID Controller by Using the Kalman Filter)

  • 차인혁;권태종;한창수
    • 대한기계학회논문집A
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    • 제24권1호
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    • pp.7-15
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    • 2000
  • This paper suggests an auto-tuning I'll) control algorithm that uses the advantage of PID controller and improves the system performance. The PID gains being designed by th- conventional method are tuned through the plant parameter estimation. The Extended Kalman Filter is used for the estimation. It works as an observer and noise filter. Moreover, as the plant state and the uncertain parameter could be estimated simultaneously, the proposed algorithm is very useful in the tracking control of a system with uncertain parameter. The auto-tuning I'll) controller could maintain the system performance in the case that the plant parameters are uncertain or varying. The proposed control algorithm requires a correct estimation of the plant parameter. The controller stability and the performance is considered through the stability criteria and a servo motor model. The Kalman filter estimates the most sensitive plant parameter, which is determined by the sensitivity analysis.

급격한 에어콘 외란에 안정한 제어기 설계 (Design of Stable Controller to Sudden A/C Disturbance)

  • 이영춘;권대규;이성철
    • 한국정밀공학회지
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    • 제17권7호
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    • pp.106-112
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    • 2000
  • The purpose of this paper is to study on the control of the engine idle speed under sudden A/C load which is one of the most severe disturbances on engines. Three types of the closed-loop controller are developed for the stable engine idle speed control. The input of the controller is an error of rpm. The output of the controller is an ISCV duty cycle. The anticipation delay is considered to deal with the delay time of the air mass in engine. The PID, Fuzzy and PID-type Fuzzy controllers with the anticipation delay have improved the engine idle speed condition more than current ECU map table under the A/C load.

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다꾸지 방법을 이용한 고속/정밀 위치제어시스템의 강인한 제어게인 선정에 관한 연구 (A study on the Robust Control Cain Selection Scheme of a High-Speed/High-Accuracy position Control System using Taguchi Method)

  • 신호준;채호철;윤석찬;장진희;한창수
    • 한국공작기계학회:학술대회논문집
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    • 한국공작기계학회 2002년도 춘계학술대회 논문집
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    • pp.521-527
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    • 2002
  • This paper presents a dynamic modeling and a robust PID controller design process for the wire bonder head assembly. For the modeling elements, the system is divided into electrical system, magnetic system, and mechanical system. Each system is modeled by using the bond graph method. The PID controller is used for high speed/high accuracy position control of the wire bonder assembly. The Taguchi method is used to evaluate the more robust PID gain combinations than conventional one. This study makes use of an L18 array with three parameters varied on three levels. Computer simulations and experimental results show that the designed PID controller provides more improved signal to noise ratio and reduced sensitivity than the conventional PID controller.

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향상된 자기동조 퍼지 PID 제어기 (Improved Self-tuning Fuzzy PID Controller)

  • 노재상;이영석;서보혁
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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    • pp.338-341
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    • 1994
  • This paper presents a Fuzzy-PID controller based on Fuzzy logic. Up to now PID controller has had the difficulty of obtaining the optimal gain, and Fuzzy controller has had the difficulty of determining scale factor affecting the performance of control. So that a Fuzzy-PID controller is presented here self tuning of the scale factor and optimal gain. The results of simulation show a good performance in comparison with Ziegler-Nichols controller, having the generality of determining the components of scale factor in Fuzzy rule.

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이동 로봇의 군집 제어를 위한 PID 제어기의 적응 신경 회로망 보상기 설계 (Design of PID Controller with Adaptive Neural Network Compensator for Formation Control of Mobile Robots)

  • 김용백;박진현;최영규
    • 한국정보통신학회논문지
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    • 제18권3호
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    • pp.503-509
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    • 2014
  • 본 논문에서는 이동 로봇의 군집 제어를 위해 실시간 적응 신경 회로망 보상기를 갖는 PID 제어기를 제안한다. 전체 제어 시스템은 선도-추종 로봇 접근법에 의한 기구학 제어기와 이동 로봇의 동역학을 고려한 동적 제어기로 구성되어 있다. 동적 제어기는 PID 제어기에 동특성 변화를 보상하고 성능을 개선시키기 위해 실시간 학습 기능을 가진 신경 회로망 보상기로 구성하였다. 모의실험을 통해 원형 궤적과 직선 궤적에 대해 PID 제어기와 신경 회로망 보상기의 성능을 비교하였다. 이를 통해 실시간 학습 기능을 가진 신경 회로망 보상기가 PID 제어기의 성능을 향상시킴으로써 군집 제어에서 추종 로봇의 추종 성능을 향상시키는 것을 확인하였다.