• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.2088-2100
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• 1994

Considerable attention has been given to controller designs that utilize the variable structure system theory in order to achieve robust tracking performance of robotic manipulators subjected to parameter variations and extraneous disturbances. However, the theory has not had wide spread acceptance in practical control engineering community due mainly to the worry of chattering which is inherently ever-existing in the variable structure system. This paper presents a novel type of fuzzy-sliding mode controller to alleviate the chattering problem. A sliding mode controller for robust robot control is firstly synthesized with an assumption that the imposed system uncertainties satisfy matching conditions so that certain deterministic performances can parameters and control rules are obtained from a relation between predetermined sliding surfaces and representative points in the error state space. A two degree-of-freedom robotic manipulator subjected to a variable payload and a torque disturbance is considered in order to demonstrate superior tracking performance accrued from the proposed methodology.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.3
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• pp.361-368
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• 1997

In order to eliminate position errors existing at the steady state in the motion control of robotic manipulators, a new fuzzy control algorithm is propeosed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller. Although the number of input variables of the fuzzy controller is increased from two to three, the number of fuzzy control rules is just increased by two. Three dimensional look-up table is used to reduce the computational time in real-time control, and a technique reducing the amount of necessary memory is introduced. Simulation and experimental studies show that the position errors at the steady state are decreased more than 90% compared to those of existing fuzzy controller when the proposed fuzzy controller is applied to the 2 axis direct drive SCARA robot manipulator.

• Journal of the Korean Society of Safety
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• v.14 no.2
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• pp.52-61
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• 1999

This paper proposes the application of fuzzy control for high performance control of induction motor using electric vehicles. A fuzzy controller converts a set of liguistic rules based on expert knowledge into a automatic control strategy. Such controllers have often been found superior to conventional controllers especially when information being processed is inexact and uncertain. A system with fast torque response is very beneficial in applications where direct self control (DSC) is highly desirable. The response of DSC is slower during startup and during change in command torque. Fuzzy control is used for implementation of DSC to improve its slow response. Simulation implementation of the fuzzy logic controller was carried out to verify the behavior of the controller. The simulation results with fuzzy control are compared with those of the conventional DSC. The starting flux and torque response and the responses to the step changes in command torque with fuzzy implementation show a considerable improvement over the conventional control. The steady state responses in both the cases are the same.

• The Journal of Korean Medicine
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• v.21 no.3
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• pp.9-19
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• 2000

Objective : We proposed fundamental rules of prospective Korean Standard Classification of Diseases(Oriental Medicine). Methods : We analysed Korean Standard Classification of Diseases(Oriental Medicine)(established in 1994) in comparison with ICD-10 and Chinese Standard Classification of Disease(Traditional Chinese Medicine). Secondly, we analysed the diagnostic structure of Modem oriental medicine. Results : Korean Standard Classification of Diseases has an inappropriate writing structure, logical errors of classification, confusion of symptoms, 'bing', and 'zheng', inappropriate comparison of disease designations in oriental medicine and western medicine, and the ommission of important items. Secondly, we demonstrate the relations of 'bing' and 'zheng' in modem oriental medicine and disease designations in oriental medicine and western medicine. Conclusions : We propose the separate classification of 'bing' and 'zheng', the qualification of designated names, the structure of 'bing' and 'zheng' system, and a different writing method.

• Journal of Ocean Engineering and Technology
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• v.15 no.4
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• pp.108-114
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• 2001

Petri nets have been introduced as a powerful analyzing and design tool for the discrete systems such as sequential control systems. However, one of the important problems in its applications is that the model can be analyzed hardly when we deal with large scale systems because of increase of the number of Petri net components. To overcome this problem, some methods for dividing or reducing of Petri net have been suggested. In this paper, an approach for hierarchical expression of Petri net based on Sequential function Chart(SFC) and Bottom Up oriented Mehodology(BUM) is proposed. Especially, some definitions and rules are defined in order to divide and compose sub Petri nets. A measuring tank system will be described as a typical kind of discrete systems and modeled by some sub Petri nets based on the SFC and BUM by the proposed method in this paper.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.10
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• pp.1460-1465
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• 2017

Outage areas can be transferred to adjacent feeders to restore power supply in case of the fault on the distribution system. Feeders in the small island or mountain area may not have backup feeders due to the low density of load. In this weakly meshed open loop system, BESS can be used as a backup feeder to improve reliability of power supply. This paper proposes a new network reconfiguration method for BESS based service restoration. Fuzzy decision making technique is adopted to deal with fuzziness of service restoration planning rules. Case studies using KEPCO real distribution system have been performed to verify feasibility of the proposed method.

• Proceedings of the KIPE Conference
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• 2000.07a
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• pp.460-463
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• 2000

Fuzzy logic control(FLC) has been studied extensively and has been applied in various applications. The most popular control strategy takes the Fuzzy Proportional-Integral(FPI) form while systematic methods have been developed to derive the fuzzy rules and membership functions the choice of the scaling factors remains an open problem, In this paper an analytical FPI scaling factor determining method is derived based on the functional equivalence of the PI and FPI controllers. Simulation have been carried out with a brushless DC motor drive system as test-bed the obtained results drive system as test-bed the obtained results have verified that the derived method is applicable to both the initial choice and further tuning of the FPI scaling factors.

• Journal of Power System Engineering
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• v.2 no.3
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• pp.21-26
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• 1998

Numerical simulations for various fluid flows require enormous computing time during iterations. In order to solve this problem, several techniques have been proposed. A SOR method is one of the effective methods for solving elliptic equations. However, it is very difficult to find the optimum relaxation factor, the value of this factor for practical problems used to be estimated on the basis of expertise. In this paper, the implication of the relaxation factor are translated into fuzzy control rules on the basis of the expertise of numerical analysers, and fuzzy controller incorporated into a numerical algorithm. From two cases of study, Poisson equation and cavity flow problem, we confirmed the possibility of computational acceleration with fuzzy logic and qualitative reasoning in numerical simulations. Numerical experiments with the fuzzy controller resulted in generating a good performance.

• Journal of Korean Institute of Industrial Engineers
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• v.21 no.1
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• pp.137-151
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• 1995

A difficult problem in operating Flexible Manufacturing Systems (FMS) is to control the system in real-time by coordinating heterogeneous machines and integrating distributed information. The objective of the paper is to present the models and methodologies useful to resolve the difficult problem. The detailed objectives can be described in three folds. First, a hierarchical Colored and Timed Petri-Net (CTPN) is designed to control an FMS in real-time. The concerned FMS consists of a loading station, several machining cells, a material handling system, and an unloading station. Timed-transitions are used to represent the timed-events such as AGV movements between stations and cells, part machining activities in the cells. Signal places are also used to represent communication status between the host and the cell controllers. To resolve the event conflicts and scheduling problems, dispatching rules are introduced and applied. Second, an implementation methodology used to monitor and diagnose the errors occurring on the machines during system operation is proposed. Third, a Petri-Net simulator is developed to experiment with the designed control logic.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.198-203
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• 2002

A fuzzy logic controller design technique is proposed to apply for the control of flexible system under irregular disturbance. The fuzzy rules of $\ulcorner$Mode Selecting Fuzzy Controller$\lrcorner$ are constructed using displacement, velocity information and modal characteristics of the system. The frequency information of flexible system is picked up from $\ulcorner$Mode Selecting Unit$\lrcorner$ based on Fast-Fourier transform algorithm. Experiment is conducted to verify the proposed theoretical approach, Piezo ceramic and laser accelerometer are used as actuator and sensor in the experiments respectively