• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.10-13
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• 1987

The main work of this paper are the manufacture of six degree of freedom industrial robot control hardware of 16 bit CPU and the development of five motion control software. The work would draw on KIT of Robotics Laboratory whose extensive experience in these areas; in particular the 68000 assembler and Modula-2 languages, and existing robot control systems. We found that this controller is good for the robot controller of PID types. But, for the use of self-tuning algorithms and real time calculations we need 32 bit CPU robot controller such as MC 68020 microprocessor.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.8
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• pp.60-70
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• 1998

A harmonic drive is compact torque transmission device with no backlash which is widely applied in industrial field to transmit torque precisely. However, one of the disadvantages of harmonic drives is the existence of mechanical flexibility caused by its structural properties, which imposes great limitation on designing precise controller This paper proposes a nonlinear controller for synchronous operation of DC servo-motors with harmonic drive, using Integrator Backstepping method. Furthermore, an alternative algorithm for serial type synchronous operation of multiple DC servo-motors is proposed. Simulation results by SIMULINK for proposed controller shows considerably small error and rapid approach to reference input, which can be adapted to industrial applications.

• Journal of Korea Society of Industrial Information Systems
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• v.12 no.4
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• pp.126-130
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• 2007

This paper presents a method to design a repetitive controller that is specified in the specified trajectory for the repetitive works. With the single-model design approach, the controller is derived by minimizing a frequency-domain based cost function that produces monotonic convergence of the tracking error as a function of repetition number. Numerical illustrations show how the proposed single-model design method produces a repetitive controller in a single nominal model of the system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.6 no.5
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• pp.373-377
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• 2005

In this paper the gas leakage controller in processing chamber for semiconductor manufacturing is proposed. A pressure sensor is connected between the final valve and the numeric valve. A pressure sensor signal and a numeric valve signal are controlled by a proposed digital circuit module. Gas leakage condition, producing by 2nd plasticity in semiconductor process, display at LED. The proposed controller module is useful for monitoring the gas flow for preventing the critical process gas leakage.

• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.737-741
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• 1987

The induction motor is represented by nonlinear equations whose parameters are changing with respect to the slip-frequency, temperature, etc. The slip-frequency is effected by unknown load which is difficult to estimate on-line. Astable vector controller is designed with direct MRAC to improve the quality of the transient response. The unknown load is considered in this speed controller design, and tested by simulation. Also a flux controller is designed and tested to reduce the audible noise in this paper.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.5
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• pp.963-969
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• 2006

In this study, we designed a digital fuzzy logic controller based on FPGA and microprocessor for MPPT of the solar power generation system. A fuzzy algorithm to control the power tracking function of a boost converter has been built into the FPGA, and applied to the small scaled solar power generation system. The embodied controller showed a stable operation characteristic with the small output voltage ripple for the intensity change of solar radiation. This result proves that the implementation of the power tracking controller using FPGA is an effective way compared to the existing one using microprocessors.

• Proceedings of the KAIS Fall Conference
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• 2008.05a
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• pp.192-195
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• 2008

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. In this paper, PID-Expert hybrid control method for motor control system as a compensation method solving this problem is presented. If PID control system is stable, the Expert controller is idle. if the error hits the boundary of the constraint, the Expert controller begins operation to force the error back to the constraint set. The disturbance effect decrease remarkably, robust speed control of DC motor using PID-Expert Hybrid controller is demonstrated by the simulation.

• International Journal of Control, Automation, and Systems
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• v.6 no.6
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• pp.836-844
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• 2008

This paper presents an approach to order reduction of linear parameter varying controller for polytopic model. Feasible solutions which satisfy relevant linear matrix inequalities for constructing full-order parameter varying controller evaluated at each polytopic vertices are first found. Next, sufficient conditions are derived for the existence of a right coprime factorization of parameter varying controller. Furthermore, a singular perturbation approximation for time invariant systems is generalized to reduce full-order parameter varying controller via parameter varying right coprime factorization. This generalization is based on solutions of the parameter varying Lyapunov inequalities. The closed loop performance caused by using the reduced order controller is developed. To examine the performance of the reduced-order parameter varying controller, the proposed method is applied to reduce vibration of flexible structures having the transverse-torsional coupled vibration modes.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.86-86
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• 2000

This paper describes a neural network based fuzzy type PID control scheme. The PID controller is being widely used in industrial applications. however, it is difficult to determine the appropriate PID gains for (he nonlinear system control. In this paper, we re-analyzed the fuzzy controller as conventional PID controller structure, and proposed a neural network based fuzzy type PID controller whose scaling factors were adjusted automatically. The value of initial scaling factors of the proposed controller were determined on the basis of the conventional PID controller parameters tuning methods and then they were adjusted by using neural network control techniques. Proposed controller was simple in structure and computational burden was small so that on-line adaptation was easy to apply to. The result of practical experiment on the magnetic levitation system, which is known to be hard nonlinear, showed the proposed controller's excellent performance.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.52 no.8
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• pp.363-367
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• 2003

Robust control for feedback control system is needed according to the highest precision of industrial automation. However, when a feedback control system has an effect of disturbance, it is very difficult to guarantee the robustness of control system. As a compensation method solving this problem, in this paper, Hybrid control method of feedback and Differential Supervisory controller is presented. A Feedback Controller is operated as a main controller, A Differential Supervisory Controller is a controller which operates only when some undesirable phenomena occur, e. g., when the error hits the boundary of constraint set. The robust control function of Differential Supervisory Controller, as a assistant controller is operated when state is unstable by disturbance. it demonstrated by speed control of motor.