• 전자공학회논문지SC
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• 제38권6호
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• pp.37-47
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• 2001

인버터를 적용한 유압식 엘리베이터 시스템은, 펌프와 실린더 패킹 및 탑승카의 마찰특성으로 인하여 PID 제어기로는 제어가 되지 않는 데드존이 발생하게 된다. 본 논문에서는 이러한 문제를 해결하기 위하여 슬라이딩모드제어기와 PID 제어기를 혼용하여, 출력혼합기의 출력을 절환시키는 구조를 가진 새로운 하이브리드제어기를 제시하여 제어성능을 향상시킨다. 먼저, 인버터를 적용한 유압식 엘리베이터의 속도제어를 위한 슬라이딩모드제어기 설계방법을 제시하고, 이어서 하이브리드 제어기의 설계방법을 제시한다. 제안된 하이브리드 슬라이딩모드제어기가 극저속 속도영역에서 뿐만 아니라 정상상태를 포함한 전 운전 영역에서 제어 성능이 개선됨을 시뮬레이션 결과를 통하여 보인다.

• 한국정보전자통신기술학회논문지
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• 제16권6호
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• pp.472-477
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• 2023

본 논문에서는 쿼드콥터 드론이 동적인 외부 환경 아래서도 외란에서도 효과적으로 경로를 추종하고 비행 안전성을 유지할 수 있도록 모델 예측 제어(MPC) 기법을 제안한다. MATLAB/Simulink에서 수행된 시뮬레이션을 통해, 외란이 주어지는 비행 시나리오에서 PID와 MPC 두 제어기의 성능을 비교한다. 제안된 설계 방법으로 MPC 제어기가 압력 변화와 공기 밀도 변동과 같은 외란에 대하여 MPC와 PID 제어기의 성능을 비교했을 때에 쿼드콥터 드론의 입력받은 주행 경로와 실제 경로의 Mean Squared Error 수치가 외란을 주기 전에는 0.2의 성능 차이를 보였다. 그리고, 외란을 주었을 때에는 0.8을 차이를 보이며 MPC 제어기의 향상된 경로 추종 정확도를 보여준다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.584-589
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• 1994

A time-varying nonlinear mathematical model was derived to consider the effect of change in roll radius on tension varation during winding and unwinding. A variable-gain PID controller was designed for tension control at start and stop in a multi-span continuous process system. The controller gains are updated at every control loop as roll radii continuously change. Computer simulation was carried out by using the mathematical model and the controller developed for a typical operating condition including acceleration and deceleration. When the variable-gain PID controller was used, the tension control performance was improved compared with that of existing control method during start-up and stop.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권1호
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• pp.9-15
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• 2003

To improve the performance of PID controller of high order systems by model reduction, we proposed two model reduction methods. One, Original model with two point $({\angle}G(jw)=\;-{\pi}/2,\;-{\pi})$ in Nyquist curve used gradient base method and genetic algorithm. The other, Original model without two point$({\angle}G(jw)=\;-{\pi}/2,\;-{\pi})$in Nyquist curve used to add very small dead time. This method has annexed very small dead time on the base model for reduction, and we remove it after getting the reduced model, and , we improved Smith-predictor for a dead-time compensator using genetic algorithms. This method considered four points$({\angle}G(jw)=0,\;-\pi/2,\;-\pi,\;-3\pi/2)$ in the Nyquist curve to reduce steady state error between original and reduced model. It is shown that the proposed methods have more performance than the conventional method.

• 조명전기설비학회논문지
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• 제17권1호
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• pp.25-30
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• 2003

본 논문에서는 비최소위상 시스템으로 표현되는 화력발전소 드럼의 수위제어를 위한 퍼지 제어기를 제안한다. 제안된 방법은 T. Takagi와 M. Sugeno의 퍼지모델을 기반으로 수행된다. 그리고 기존의 PID 및 LQ 제어기법을 적용한 방식과 비교하여 제안된 방법의 개선된 특성을 시뮬레이션 결과로부터 검증하였다.

• 제어로봇시스템학회논문지
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• 제11권9호
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• pp.741-749
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• 2005

This paper presents a nonlinear controller design for optical disk drive systems to improve anti-shock performance. The nonlinear anti-shock controller is added parallel to the original linear servo control loop. In the previous work, a dead-zone nonlinear element is used for the nonlinear controller and a PID control method is used for the linear controller. Although this parallel structure of the controller improves anti-shock performance, it has a narrow stability bound. In this paper, the dead-zone with saturation nonlinear element is proposed for the nonlinear controller. Since this nonlinear element improves stability margin, we can use higher slope gain of dead-zone than that of nonlinear controller using dead-zone only. In the linear controller design, it is shown that the lead-lag control has an improved stability margin over PID control. Numerical simulation results and experimental results show that the proposed method can get better performance to the external shock than previously proposed methods.

• Biotechnology and Bioprocess Engineering:BBE
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• 제9권3호
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• pp.156-165
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• 2004

Concentrations of substrates, glucose, and ammionia in biological processes have been on-line monitored by using glucose-flow injection (FIA) and ammonia-FIA systems. Based on the on-line monitored data the concentrations of substrates have been controlled by an on-off controller, a PID controller, and a neural network (NN) based controller. A simulation program has been developed to test the control quality of each controller and to estimate the control parameters. The on-off controller often produced high oscillations at the set point due to its low robustness. The control quality of a PID controller could have been improved by a high analysis frequency and by a short residence time of sample in a FIA system. A NN-based controller with 3 layers has been developed, and a 3(input)-2(hidden)-1(output) network structure has been found to be optimal for the NN-based controller. The performance of the three controllers has been tested in a simulated process as well as in a cultivation process of Saccharomyces cerevisiae, and the performance has also been compared to simulation results. The NN-based controller with the 3-2-1 network structure was robust and stable against some disturbances, such as a sudden injection of distilled water into a biological process.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 춘계학술대회 논문집
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• pp.206-211
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• 2011

In this paper, a control algorithm for the improvement of yaw and velocity stability of electrical vehicle with two or four in-wheel motors is proposed. The vehicle is modeled with independently operative in-wheel motor wheels. Different frictions on the wheels are regarded as disturbances, which causes driving instability. In this situation the proposed algorithm enables stabilizing the yaw motion and velocity of vehicle simultaneously. The proposed PID controller is composed with two techniques, which enhance the disturbance reject and point tracking performances. One is nonlinear gain function and the other one is improved integral controller operating as time based weight function. Simulation is conducted to reveal its efficient performance.

• Journal of Electrical Engineering and Technology
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• 제10권3호
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• pp.1383-1388
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• 2015

Proportional integral derivative (PID) control is one of the conventional control strategies. Industrial PID control has many options, tools, and parameters for dealing with the wide spectrum of difficulties and opportunities in manufacturing plants. It has a simple control structure that is easy to understand and relatively easy to tune. Injection mold is warming up to the idea of cycling the tool surface temperature during the molding cycle rather than keeping it constant. This “heating and cooling” process has rapidly gained popularity abroad. However, it has discovered that raising the mold wall temperature above the resin’s glass-transition or crystalline melting temperature during the filling stage is followed by rapid cooling and improved product performance in applications from automotive to packaging to optics. In previous studies, optimization methods were mainly selected on the basis of the subjective experience. Appropriate techniques are necessary to optimize the cooling channels for the injection mold. In this study, a digital signal processor (DSP)-based PID control system is applied to injection molding machines. The main aim of this study is to optimize the control of the proposed structure, including a digital PID control method with a DSP chip in the injection molding machine.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.136-139
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• 2000

Controller refinement scheme to improve the performance of a conventional system automatically in frequency domain is proposed. The controller automatic tuning method features using experimental frequency responses of the conventional closed-loop system, the conventional controller, and the improved closed-Imp system; instead of poorly modeled plant due to non-linearities and disturbances. The improved closed-loop system characteristics is automatically acquired by the conventional closed-loop system characteristics and the proposed performance index in system bandwidth. And the proper controller is realized by least squares approximation in frequency domain. To testify the usefulness of the approach, experimental results of robot path-tracking control applied with various controllers is used, and then is analyzed with respect to a equivalent proportional controller. Experimental results and analytic results are well-matched.