• Title/Summary/Keyword: Industrial Controller

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Effects of the Sampling Time in Motion Controller Implementation for Mobile Robots (모바일 로봇 모션 제어에 있어 샘플링 시간의 효과)

  • Jang, Tae-Ho;Kim, Youngshik
    • Journal of Korean Society of Industrial and Systems Engineering
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    • v.37 no.4
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    • pp.154-161
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    • 2014
  • In this research we investigate motion controller performance for mobile robots according to changes in the control loop sampling time. As a result, we suggest a proper range of the sample time, which can minimize final posture errors while improving tracking capability of the controller. For controller implementation into real mobile robots, we use a smooth and continuous motion controller, which can respect robot's path curvature limitation. We examine motion control performance in experimental tests while changing the control loop sampling time. Toward this goal, we compare and analyze experimental results using two different mobile robot platforms; one with real-time control and powerful hardware capability and the other with non-real-time control and limited hardware capability.

On the Development of a Gas Metal Arc Welding Robot Controller (가스금속 아아크 용접용(Gas Metal Arc Welding) 로보트제어기 개발에 관한 개론)

  • Pee, Won-Il;Park, Byung-Gun;Kim, Jung-Ho;Koh, Kwang-Ill
    • Proceedings of the KIEE Conference
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    • 1993.07a
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    • pp.376-379
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    • 1993
  • GoldStar Industrial Systems Co. R & D center successfully developed the inverter for welding under the support of GoldStar Electric Machinery Co. Now, we are currently working on the mechanical part of articulated robot and a high-performance general purpose motion controller. By combining the above three items, we will be able to constitute the complete welding robot system on our own. In this article. the welding robot system currently under developing is introduced. The main focus will be placed on the development of general purpose motion controller with welding control module. Therefore, the architecture of welding robot controller where the general purpose motion controller is combined with the welding controller module will be explained. Here, the software system will be explained with regard to the hardware system.

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Expriments on a High Precision Planar Magnetic Levitation Stage Structure

  • Lee, Se-Han;Caraiani, Mitica;Jeon, Jeong-Woo;Lee, Ki-Chang;Kim, Yong-Joo
    • Proceedings of the Korean Society Of Semiconductor Equipment Technology
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    • 2004.05a
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    • pp.179-184
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    • 2004
  • This paper is an overview of the experimental work using a Planar Magnetic Levitation Stage System structure proposed by Dr. Won-Jong Kim in his PhD thesis. Based on his results, we built an Experimental Test Stand (ETS), which enabled us to get accustomed with the new technology and to create new control structures and algorithms. The ETS is controlled by a powerful controller made of 4 DSPs mastered by a PC. This controller structure increases the controller bandwidth up to 10 kHz leading to a better emulation of an analog controller and leaving enough room for further development. Based on analyzing all the factors that can affect the performances of the system, we achieved a great accurate positioning performance of sub-nanometer RMS value.

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Hybrid Genetic Algorithm Reinforced by Fuzzy Logic Controller (퍼지로직제어에 의해 강화된 혼합유전 알고리듬)

  • Yun, Young-Su
    • Journal of Korean Institute of Industrial Engineers
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    • v.28 no.1
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    • pp.76-86
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    • 2002
  • In this paper, we suggest a hybrid genetic algorithm reinforced by a fuzzy logic controller (flc-HGA) to overcome weaknesses of conventional genetic algorithms: the problem of parameter fine-tuning, the lack of local search ability, and the convergence speed in searching process. In the proposed flc-HGA, a fuzzy logic controller is used to adaptively regulate the fine-tuning structure of genetic algorithm (GA) parameters and a local search technique is applied to find a better solution in GA loop. In numerical examples, we apply the proposed algorithm to a simple test problem and two complex combinatorial optimization problems. Experiment results show that the proposed algorithm outperforms conventional GAs and heuristics.

Design of fuzzy logic position controller for brushless DC motor (브리시리스 전동기의 위치제어를 위한 Fuzzy Logic 제어기 구성에 관한 연구)

  • 박귀태;이기상;김성호;배상욱;박채홍;이동원
    • 제어로봇시스템학회:학술대회논문집
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    • 1990.10a
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    • pp.122-126
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    • 1990
  • This paper discusses the possibility of applying fuzzy logic controller in a microprocessor-based brushless DC servo motor controller, which requires faster and more accurate response compared with other industrial processes. Limitations of fuzzy logic controller are also described.

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A Robust Output Feedback Controller Design for Uncertain Linear Systems Using LQG/LTR (LQG/LTR 기법을 이용한 불확실한 선형 시스템의 견실한 출력 되먹임 제어기의 설계)

  • Jang, Tae-Jeong
    • Journal of Industrial Technology
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    • v.15
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    • pp.209-215
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    • 1995
  • In this paper, a controller design method for uncertain linear systems by output feedback is proposed. This method utilizes the LQG/LTR procedure for systems with uncertainties described in the time domain. It is assumed that the uncertainties satisfy the matching conditions and their bounds are known. First, a robust state feedback controller design method is introduced. Then, it is asymtotically recovered for the output feedback system by the loop transfer recovery(LTR) method under a certain condition.

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Model Identification and Design of Optimized IMC-Cascade Controller (모델 동정과 최적의 IMC-Cascade 제어기 설계)

  • Cho, Joon-Ho;Cho, Hyun-Seob;Hwang, Hyung-Soo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.13 no.12
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    • pp.6027-6033
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    • 2012
  • In this paper, we proposed to model identification in frequency domain using relay feedback and Design of internal model controller(IMC) with Cascade controller. The parameters of controller in the inner loop are determined to minimize the integral of time multiplied by the absolute value of error (ITAE) value of performance Index. The controller of outer loop and parameters of IMC-PID controller can be obtain using identified model. The model identification is considered that it is the transient response and the steady-state response through the use of nyquist curve. Simulation examples are given to show the better performance of the proposed method than conventional methods.

Direct Controller for Nonlinear System Using a Neural Network (신경망을 이용한 비선형 시스템의 직접 제어)

  • Bae, Ceol-Soo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.14 no.12
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    • pp.6484-6487
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    • 2013
  • This paper reports the direct controller for nonlinear plants using a neural network. The controller was composed of an approximate controller and a neural network auxiliary controller. The approximate controller provides rough control and the neural network controller gives the complementary signal to further reduce the output tracking error. This method does not place too much restriction on the type of nonlinear plant to be controlled. In this method, a RBF neural network was trained and the system showed stable performance for the inputs it has been trained for. The simulation results showed that it was quite effective and could realize satisfactory control of the nonlinear system.

Design of Battery Charge-Discharge Controller for Renewable Energy System -Focusing on Solar Battery Charge-Discharge Controller - (신재생 에너지 시스템을 위한 축전지 충방전 컨트롤러 설계 -태양광 발전 축전지 충방전 컨트롤러를 중심으로-)

  • Lee, Jae-Min
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.8 no.6
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    • pp.1363-1368
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    • 2007
  • In order to utilize renewal energy such as solar power and wind power, high performance battery charge-discharge controller is essentially needed. In this paper, a PIC microprocessor-based battery charge-discharge controller for solar power system is designed and implemented. The PIC16C711 microprocessor and CCS-C compiler are used to realize stable and accurate operation of the battery controller. The proposed controller is designed to utilize the charged battery power during daytime to provide convenience to user. Current control function is included in proposed controller to cope with various type of new material energy system coming in the near future.

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A Method of Conclusion of Traffic Control Signal Proposal using Fuzzy Analytic Hierachy Process (퍼지AHP를 이용한 교통신호제어기의 교통대안확정방법)

  • Jin, Hyun-Soo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.9 no.6
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    • pp.1592-1598
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    • 2008
  • Fixed cycle traffic signal controller is pattern type controller. This method is that one concluding traffic proposal affect fixed cycle controller to deciding cycle time during 24 hours. Traffic intersection jam is caused traffic controller supervisor input wrong traffic proposal. The available to traffic controller is traffic proposal is not selected by an outward look but propriety traffic proposal is compared with each other. This paper presents that property traffic proposal adopted to fixed cycle controller by fuzzy analytic hierachy process and new proposal adopted fixed cycle controller is compared with others.