• 한국정보통신학회논문지
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• 제3권2호
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• pp.363-371
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• 1999

본 논문에서는 유전자 알고리즘을 이용한 최적의 퍼지 제어기 설계에 대한 방식을 제안한다. 제안하는 방식은 최적화 문제에 매우 효과적인 유전자 알고리즘을 이용하여 퍼지 제어기의 퍼지규칙, 입ㆍ출력 스케일링 펙터를 결정하는 방식이다. 서보 시스템에 적합한 퍼지 규칙은 퍼지 제어기의 성능지표인 적합도 함수를 사용한다. 제안된 제어 방식의 유용성을 확인하기 위하여 단일 링크 매니퓰레이터를 제어 대상으로 시뮬레이션 및 실험을 하여 일반적인 퍼지 제어 방식과 제어 성능 및 특성을 비교 검토한다.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2001년도 하계 학술대회 논문집(KISPS SUMMER CONFERENCE 2001
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• pp.117-120
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• 2001

Deadbeat property is well established in digital control system design, But in continuous time, it can hardly realized for it's asymtotic property. But recently japanese researchers suggested serveral method for continuous time deadbeat property. They use delay elements In polynomials and established for the deadbeat condition. By solving this condition, unknown coefficients in polynomials with delay elements is obtained. In this paper, design method for optimal continuous time deadbeat servo system using 2nd order smooting elementsis studied. Continuous time deadbeat controller is consisted of serial integral compensator and local feedback one in state feedback loop. Determining method for damping rations and natural frequencies of smothing elements is described. By computer simulations, control inputs and system outputs are shown to have desirable property such as smoothness.

• 제어로봇시스템학회논문지
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• 제8권2호
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• pp.104-112
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• 2002

Controllers for acoustic noise reduction in disk drives have been developed but they have slower seek time performance than time-optimal controllers. We propose a new seek servo controller that has acoustic noise reduction benefit and faster seek time performance than conventional controllers. The proposed controller is designed to make sure that head is moved with maximized acceleration and deceleration under the voltage limitation imposed on head-positioning motor and so it provides faster seek time than conventional controllers designed by considering the current limitation. The experimental results using a commercially available disk drive confirm that the use of the proposed controller results in foster seek time than conventional controllers for acoustic noise reduction.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2167-2169
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• 2003

The LQG regulator presented in this dissertation is designed to improve system stability with the structure in which Kalman Filters and LQ regulator are inter-connected to avoid disturbances on the system. For the sake of performance evaluation of the LQG regulator in this dissertation, the regulator is put in use for the speed control of DC Servo Motors without speed sensors on them to realize speed control without sensors by estimating uncertain speed with its state signals and to construct an optimal controller using the LQG regulator. Furthermore, state estimation process with white noise entered onto the systems is been experimented through a series of simulation. As a consequence, the process of estimating speed signals out of the signals with white noise inputs is confirmed using Kalman Filter.

• 한국정밀공학회지
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• 제8권2호
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• pp.47-56
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• 1991

The specifications needed for the mobile cranes are summarized as the following : 1) there may be not occured the oscillation of the cargo at unloading point. 2)the required time from departure point to destination point may be as short as possible. 3) there may be not a collapse of cargo caused by the oscillation in the course that the crago is mobilling. In this paper, the linear fractional transformation method is adopted as a method in order to improve the above mentioned problems. A design method of servo system is developed by modifying Davison's method for the case that the homogeneous differential equations of reference input and disturbance are different types. The real time control of a mobile crane system is implemented by 16bits microcomputer with A/D and D/A converters to illustrate the application of the adopted method. The experimental results for the three types of the design methods; linear fractional transformation method, servo system design method and optimal control method are shown for the comparison.

• 한국공작기계학회논문집
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• 제17권5호
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• pp.44-51
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• 2008

In this paper, the optimal tuning of a cross-coupled controller linked with the feedforward controller is studied to reduce contouring and tracking errors of a bi-axial servomechanisms by using the previously developed integrated tuning method. The CCC system for an arbitrary curve, which is combined with the feedforward controller, is formulated by a state-space based on a series of linear motion trajectories. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including relevant controller parameters of the servo. To verify the effectiveness of the proposed optimal tuning procedure, linear and circular motion experiments are performed on the xy-table. Experimental results confirm that both tracking and contouring errors are significantly reduced by applying the proposed control and tuning system.

• 한국정밀공학회지
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• 제8권3호
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• pp.64-72
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• 1991

This paper deals with the state estimator and controller. All state variables' feedback in the system were used to improve electro hydraulic servo sysem were used to improve electro hydraulic servo system's responese charact- eristics. Many gains of the state variables'and estimator's are produced by the algebraic Riccati equation, and every state variables'optimal gain and estimator gain is selected by trial and error method. For the designed estimator performance's examination, this paper simulate the time response for the step input, the reduced velocity output in subjected to load torque, and the time response for the step input in changing the inertiamoment.

• 수산해양기술연구
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• 제36권3호
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• pp.257-265
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• 2000

본 논문에서는 BLDC 서보모터의 속도 제어성 향상을 위해 속도제어계에 2자유도 적분형 최적 제어법을 적용하고 그 결과를 기존의 PI제어계 및 2자유도 PI제어계와 비교하였다. 2자유도 적분형 최적제어법은 PI제어법이 갖는 지령치 추종특성과 외란 억제특성간의 트레이드오프 문제를 해결하고, 제어계의 최적성을 확보하고자 도입되어졌으며, 시뮬레이션과 실험을 통해 그 유효성을 고찰하였다. 시뮬레이션을 통해 얻은 결과는 다음과 같다. (1) 2자유도 적분형 최적제어계는 PI제어계에 비해 양호한 지령치 추종성과 외란 및 모델링 오차제거 특성을 보였다. (2) 2자유도 적분형 최적제어계는 제어파라미터인 하중행렬 Q, R 및 W에 대한 제약요건이 없을 경우, 모터의 정격조건 하에서 이들을 적절히 설정함으로써 2자유도 PI제어계보다도 양호한 지령치 추종성과 외란 및 모델링 오차 제거 특성을 얻을 수 있다. (3) 2자유도 적분형 최적제어계는 인가전압 및 전류의 크기를 2자유도 PI제어계의 그것과 동일하게 제약할 경우 2자유도 PI제어계에 비해 지령치 추종에 관한 정정시간 외에는 그다지 우수한 성능을 보이지 않았다. 또한, 실험을 통해 고찰한 PI 및 2자유도 PI제어계의 속도추종성능은 시뮬레이션 결과와 거의 동일하였다. 2자유도 적분형 최적제어계에 대한 실험결과는 논문에 나타내지 못하였으나, PI및 2자유도 PI제어계의 실험결과에서 알 수 있듯이 2자유도 적분형 최적제어계도 시뮬레이션 결과와 같은 경향을 보일 것으로 사료된다. 따라서, 본 논문에서 검토된 방법은 기존의 PI 제어계가 갖는 지령치 추종과 외란억제의 트레이드오프 문제를 상당부분 해결 가능할 것으로 보인다. 또한, 일정의 부하외란 및 모델링 오차내에서는 2자유도 PI제어계 보다 나은 제어성능을 보여 BLDC 모터의 속도 제어성 향상에 기여할 수 있을 것으로 기대가 된다. 향후, 2자유도 적분형 최적제어계의 실험결과를 통한 엄밀한 제어성능검증과 스텝외란 외의 주기성 외란 인가시 2자유도 적분형 최적제어계의 외란제거 방안 등이 검토되어야 할 것으로 사료된다.

• Journal of Electrical Engineering and Technology
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• 제10권1호
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• pp.408-421
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• 2015

Because the wheel of V-belt continuously variable transmission (CVT) system driven by permanent magnet synchronous motor (PMSM) has much unknown nonlinear and time-varying characteristics, the better control performance design for the linear control design is a time consuming job. In order to overcome difficulties for design of the linear controllers, a hybrid recurrent Chebyshev neural network (NN) control system is proposed to control for a PMSM servo-driven V-belt CVT system under the occurrence of the lumped nonlinear load disturbances. The hybrid recurrent Chebyshev NN control system consists of an inspector control, a recurrent Chebyshev NN control with adaptive law and a recouped control. Moreover, the online parameters tuning methodology of adaptive law in the recurrent Chebyshev NN can be derived according to the Lyapunov stability theorem and the gradient descent method. Furthermore, the optimal learning rate of the parameters based on discrete-type Lyapunov function is derived to achieve fast convergence. The recurrent Chebyshev NN with fast convergence has the online learning ability to respond to the system's nonlinear and time-varying behaviors. Finally, to show the effectiveness of the proposed control scheme, comparative studies are demonstrated by experimental results.

• 대한기계학회논문집A
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• 제21권10호
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• pp.1683-1693
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• 1997

In this paper, a new nonlinear dynamic model is derived for a 2-dimensional overhead crane based on a new definition of 2-degree-of-freedom swing angle, and a new anti-swing control law is proposed for the crane. The dynamic model and control law take simultaneous travel and traverse motions of the crane into consideration. The model is first linearized for small motions of the crane load about the vertical stable equilibrium. Then the model becomes decoupled and symmetric with respect to the travel and traverse axes of the crane. From this result, a decoupled anti-swing control law is proposed based on the linearized model via the loop shaping and root locus methods. This decoupled method guarantees not only fast damping of load-swing but also zero steady state position error with optimal transient response for the 2-dimensional motion of the crane. Finally, the proposed control method is evaluated by controlling the simultaneous travel and traverse motions of a 2-dimensional prototype overhead crane. The effectiveness of the proposed control method is then proven by the experimental results.