• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.6
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• pp.84-90
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• 2004

Many control techniques have been proposed in order to improve the control performance in the control system. In the feedback control system the output of controller is generally used as the input of a plant But the undesired noise is included in the output of a controller. Therefore, there is a need to use a precompensator for rejecting the undesired noise and improving the response characteristic of a system. In this paper, the design method of a precompensator is proposed for the model following control in the I-PD control system. The proposed precompensator is implemented with a neural network. The games of a precompensator are adjusted automatically to obtain a desired response of a system when the response characteristic of a system is changed under a condition.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.4
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• pp.335-341
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• 2010

To improve the performance of inner loop based on PD controller for a unmanned helicopter, neural networks are applied. The performance of PD controller designed on the response characteristics of error dynamics decreases because of uncertain nonlinearities of the system. The nonlinearities are decoupled to modified dynamic inversion model(MDIM) and are compensated by the neural networks. For the training of the neural networks, online weight adaptation laws which are derived from Lyapunov's direct method are used to guarantee the stability of the controller. The results of the improved performance of PD controller by neural networks are illustrated in the simulation of unmanned helicopter with nonlinearities,

• Journal of the Korean Society of Propulsion Engineers
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• v.20 no.4
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• pp.19-25
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• 2016

Using a actuator to which the motor and the gear is applied to the I-PD control method and a dual-loop system to carry out precise position control. I-PD control algorithm performs an operation to reduce the overshoot in the transient response. Accordingly, the actuator obtains a precise position tracking result. Also it utilizes two sensors and dual loops. It reduces the adverse effect on the precise position control that may occur by the end play of the gear train. In this paper, we uses the actuator model applying the BLDC motor and gear in order to determine the position tracking result by the dynamic characteristic change. It was verified by the simulation results.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.6
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• pp.524-529
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• 2005

In this paper, a novel neural network compensation technique for PD like fuzzy controlled robot manipulators is presented. A standard PD-like fuzzy controller is designed and used as a main controller for controlling robot manipulators. A neural network controller is added to the reference trajectories to modify input error space so that the system is robust to any change in system parameter variations. It forms a neural-fuzzy control structure and used to compensate for nonlinear effects. The ultimate goal is same as that of the neuro-fuzzy control structure, but this proposed technique modifies the input error not the fuzzy rules. The proposed scheme is tested to control the position of the 3 degrees-of-freedom rotary robot manipulator. Performances are compared with that of other neural network control structure known as the feedback error learning structure that compensates at the control input level.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.239-242
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• 2008

본 논문은 3차 이상의 고차 시스템에 적용 가능한 Jung & R. C. Dorf이 제안한 새로운 형태의 PIDA 제어기 설계에서 오버슈트에 대한 문제점을 해결하기 위해 Shunji Manabe에 의해 제안된 CDM(Coefficient Diagram Method)을 이용하여 PIDA 제어기를 설계하고, PD형 보상기를 추가하여 PD-PIDA 제어기를 제안한다. 설계된 PD-PIDA 제어기를 이용하여 3상 유도전동기에 적용하고 그 결과를 비교하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.61.4-61
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• 2002

Introduction $\textbullet$ Simple PD-type Fuzzy Controller $\textbullet$ Simple PD+l-type fuzzy controller design $\textbullet$ Simulation $\textbullet$ Conclusion $\textbullet$ References

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.4
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• pp.651-657
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• 2012

In many control fields high position performance is essentially required in reducing the over-shoot phenomena which is produced by improving the quick response in starting and in minimizing the variation of the response characteristic on disturbance and load variation In this paper, the design method for a position control is suggested for constructing the PI-PD controllers by using an internal PD feedback loop in PI and PD control system. Applying this method to the position control system used a DC servo motor as a driver, the transfer PI and PD controllers are designed simultaneously and the coefficients of these controllers are determined by using the transfer function of a plant and a proportional coefficient from mathematical technique. From the result of computer simulation in PI-PD control system by applying this control technique, we can verify the usefulness of this method in rejecting of over-shoot of starting, compensating of response variation on the load variation, and shorting the settling time.

• The Transactions of the Korean Institute of Power Electronics
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• v.22 no.1
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• pp.60-66
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• 2017

This paper presents the design of a proportional-integral (PI)-proportional-derivative (PD) position controller without using a speed controller in motor drive systems. Unlike the existing PI-PD position controller design methods, the proposed controller is designed by reducing the entire position control system to a second-order transfer function. Thus, the gain values for the PI-PD position controller can be determined easily by a given bandwidth of the position controller. The PI-PD position controller designed by the proposed method is adopted for position control in an interior permanent magnet synchronous motor drive system to confirm the validity of the proposed design method. The effectiveness of the proposed design method is confirmed through experiments.

• 한국신재생에너지학회:학술대회논문집
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• 2011.11a
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• pp.92.2-92.2
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• 2011

차세대 에너지로 연료전지가 각광을 받고 있는 현재, 세계 각국에서는 연료전지의 상용화를 위해 노력하고 있다. 그러나 촉매분야에서 백금계 촉매의 사용량의 문제에 따른 매장량 한계점과 귀금속이라는 문제점이 존재하기 때문에 이에 대하여 대책강구가 필요한 시점이다. 이에 백금 촉매의 활성을 증대하고자 나노 크기의 제어 연구가 진행되고 있다. 또한, 촉매의 구조적인 면에 따라 촉매의 활성이 달라지는 점을 착안하여 백금계의 나노 형상 조절 연구와 백금계 촉매를 대체할 비백금계의 촉매 개발 연구가 활발히 진행되어지고 있다. 이에 본 연구는 백금계 촉매 중 Pd을 polyol process에 의한 나노 형상 조절을 통하여 단위 질량당(or 단위 부피당)촉매의 활성을 높이고자 하였다. 여기서 새로이 도입된 환원제는 Glycerol을 이용하였으며, {111}면이 많이 드러난 Pd 나노입자를 형성하였다. 이에 따라 나노 형상 조절이 된 Pd촉매를 이용하여 상용화된 촉매(Pd/C(XC-72R))에 비하여 전기화학적인 특성의 차이와 Pd 촉매의 촉매적 특성의 효과를 보고자 한다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.4
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• pp.34-42
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• 2004

In this paper, a double gimbal is used for roll/yaw attitude control of spacecraft and two feedback controllers are designed. One is a PD controller of no phase difference between roll and yaw control input. The other is a PD controller with a phase lag compensator about the yaw control input. The phase lag compensator is designed a first order system and a lag parameter is designed for the control of yaw angle. There are two case simulations for each of controllers; constant disturbance torques and initial errors of nutation. We obtain the results through simulations that a steady-state error and a rising time of yaw angle are developed by the compensator. In this paper, simulation parameters use the values of KOREASAT 1.