• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.53 no.6
• /
• pp.433-439
• /
• 2004

The Helicopter Simulator System is non-linear and complex. Futhermore, because of absence of its accurate mathematical model, it is difficult to control accurately its attitudes such as elevation angle and azimuth one. Therefore, we proposed a Hybrid GA-PID WAVENET(Genetic Algorithm Proportional Integral Derivative Wavelet Neural Network)control technique to control efficiently these angles. The proposed Hybrid GA-PID WAVENET is made through the following process. First, the WAVENET fundamental functions are defined. And their dilation and translation values are adjusted by GA to construct the optimal WAVENET controller. Secondly, the proportional, integral, and derivative gain coefficients of PR controller are tuned optimally. Finally, WAVENET controller which has a good transient characteristic and GA-PE controller which has a good steady state characteristic is adequately combined in hybrid type. Through the computer simulations, it is proved that the Hybrid GA-PE WAVENET control technique has a more excellent dynamic response than PID control technique and GA-PID one.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.77.1-77
• /
• 2001

In this paper, we propose a control scheme for improving the performance of a conventional Proportional-Integral (PI) controller for Active Queue Management (AQM) supporting TCP flows. When the PI controller is used for AQM, the windup phenomenon of the integral action causes the performance degradation. Therefore we model AQM as a system with a saturator and apply anti-windup methods to the PI controller for AQM. We compare the performances of anti-windup algorithm with the conventional PI controller through ns simulations. The simulation results show that the PI controller with anti-windup method performs better than the conventional PI controller.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.8 no.6
• /
• pp.881-889
• /
• 2013

In this paper, a nonlinear and adaptive back-stepping control technique is proposed for a speed control of IPMSM(Interior Permanent Magnet Synchronous Motor). The gain of back-stepping controller(including integral value of the states error) is designed for stability of the system. In order to adapting fast in variation of load torque, the controller is including load torque estimator. The simulation is completed by using PSIM software. The simulation results show that the designed back-stepping controller make the system stable in the constant torque region, and has better tracking performance than a controller without the integral gain.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.17 no.12
• /
• pp.1152-1160
• /
• 2007

In this paper we deal with a design of integral sliding mode controller to reject the disturbance force acting on the suspension system in the magnetically levitated system which is propelled by the linear induction motor. The control scheme comprises an integral controller which is designed for achieving zero steady-state error under step disturbances, and a sliding mode controller which is designed for enhancing robustness under plant uncertainties. A proper continuous design signal is introduced to overcome the chattering problem. The disturbance force produced by the linear motor is formularized by using a curve fitting of the experimental raw data. Computer simulations show the effectiveness of the designed integral sliding mode controller to reject the disturbance force.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.101.5-101
• /
• 2001

A linear input/output data-based predictive control with integral action is developed. The control input is obtained directly from the input/output data in a single step. However, the state estimation in subspace identification gives a biased estimate and there is model mismatch when the controller is applied to a nonlinear process. To overcome such difficulties, we add integral action to a linear input/output data-based predictive controller by augmenting the integrated white noise disturbance model and use each of best linear unbiased estimation(BLUE) filter and Kalman filter as a stochastic observer for the unmeasured disturbance. When applied to a continuous styrene polymerization reactor the proposed controller demonstrates.

• Journal of Korea Society of Industrial Information Systems
• /
• v.21 no.4
• /
• pp.21-30
• /
• 2016

In a single-phase power factor correction (PFC), the standard cascaded control algorithm using a proportional-integral-derivative (PID) controller has two main drawbacks: an inability to track sinusoidal current reference and low harmonic compensation capability. These drawbacks cause poor power factor and high harmonics in grid current. To improve these drawbacks, this paper uses a proportional-integral-derivative-resonant (PIDR) controller which combines a type-III PID with proportional-resonant (PR) controllers in the PFC. Based on a small signal model of the PFC, the type-III PID controller was implemented taking into account the bandwidth and phase margin of the PFC system. To adopt the PR controllers, the spectrum of inductor current of the PFC was analyzed in frequency domain. The hybrid PIDR controller were simulated using PSCAD/EMTDC and implemented on a 3 kW PFC prototype hardware. The performance results of the hybrid PIDR controller were compared with those of an individual type-III PID controller. Both controllers were implemented successfully in the single-phase PFC. The total harmonic distortion of the proposed controller were much better than those of the individual type-III PID controller.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.8
• /
• pp.718-722
• /
• 2015

This paper proposes a fractional-order PID (Proportional-Integral-Derivative) control used electromagnetic strip stabilization controller in a continuous galvanizing line. Compared to a conventional PID controller, a fractional-order PID controller has integration-fractional-order and derivation-fractional-order as additional control parameters. Thanks to increased control parameters, more precise controller adjustment is available. In addition, accurate transfer function of a real system generally has a fractional-order form. Therefore, it is more adequate to use a fractional-order PID controller than a conventional PID controller for a real world system. Finite element models of a $1200{\times}2000{\times}0.8mm$ strip, which were extracted using a commercial software ANSYS were used as simulation plants, and Gaussian mixture models were used to find optimized control parameters that can reduce the strip vibrations to the lowest amplitude. Simulation results show that a fractional-order PID controller significantly reduces strip vibration and transient response time than a conventional PID controller.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.6
• /
• pp.417-423
• /
• 2016

Using a sliding mode controller and observer techniques, this paper presents a robust current controller for a DC motor in the presence of parametric uncertainties. One of the most important issues in the practical application of sliding mode schemes is the chattering phenomenon caused by switching actions. This paper presents a novel sliding mode controller that incorporates an integral control with a sliding mode disturbance observer to attenuate the chattering by reducing the controller/observer switching gains. The proposed sliding mode disturbance observer is designed to estimate a relatively slow varying signal in the equivalent lumped disturbance owing to system uncertainties. Combining the estimated uncertainty with the sliding mode control input, the proposed controller can achieve the control objective by using the relatively low gain of the controller. The proposed disturbance observer does not include the switching control input of the baseline sliding mode controller to reduce the observer switching gain. In the proposed approach, the integral sliding mode control is used to improve the steady state control performance. Comparative computer simulations are carried out to demonstrate the performance of the proposed method. Through the simulation results, the proposed controller realizes the robust performance with reduced current ripples.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1997.04a
• /
• pp.772-776
• /
• 1997

For a robot to perfom more versatile tasks, it is invitable for the robot's end-effector to come into contact with its environment. In thos case, to achieve better performance, it is necessary to properly control the contact force between the robot and the environment. In thos work, hybrid control theory is studied and is verified through experiment using a 3 DOF robot. In the experiment, two position/force controllers are used. Fist, proportional-integral-derivative controller is used as the controller for both position and force. Second, computed-torque method is used as the position controller, and proportional-integral-derivative controller is used as the force controller. For a proper modeling used in computed-torque method, the friction torque is measured by experiment, and compensation method is studied. The hybrid control method used in this experiment effectively control the contact force between the end-effector and the environment for various types of jobs.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.238-243
• /
• 1986

Distillation columns are widely used in almost every chemical plant. The use of multivariable control for such units is attractive because of the strong interactions exhibited between outputs and inputs and the desire to control simultaneously both top and bottom products. In this research design of a robust multivariable controller for distillation column was considered; output feedback controller with proportional and integral modes was designed using pole assignment. The transfer function matrix was obtained by fitting the step response realtions between single input double output pairs of variables. This matrix was then converted to linear time invariant state space model by multivariable realization technique. With the proposed multivariable proportional and integral controller applied to the process, the result of the digital computer simulation showed a good performance of asymtotic tracking. The limited experimental performance of this multivariable control was compared with the result from simulation. It was found that the proposed controller performed satisfactorily for the distillation column which separated binary mixture of methanol and water.