• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2007년도 추계종합학술대회
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• pp.681-684
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• 2007

This paper proposed and designed I-PD Controller using Shunji Manabe's CDM. The designed controller is applied to a level control system. The designed I-PD controller is smaller steady state error and get a specific response. A simulation results, the designed controller was better than a Fuzzy I-PD controller on a level control system.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2003년도 하계학술대회 논문집 Vol.4 No.2
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• pp.735-738
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• 2003

Downsizing electronics requires precision position control with an accuracy of sub-micron order, which demands development of ultra-fine displacive devices. Piezoelectric transducer is one of devices transferring electric field energy into mechanical energy and being capable for fine displacement control. The transducer has been widely used as fine Position control device Multilayer piezoelectric actuator, one of typical piezo-transducer, is fabricated by stacking alternatively ceramic and electrode layers several hundred times followed by cofiring process. Electrode material should be tolerable in the firing process maintaining at ceramic-sintering temperatures up to $1100{\sim}1300^{\circ}C$. Ag-Pd can be used as stable electrode material in heat treatment above $960^{\circ}C$. Besides, adding small quantity ceramic powder allow the actuator to be fabricated in a good shape by diminishing shrinkage difference between ceramic and electrode layers, resulting in avoidance of crack and delamination at and/or nearby interface between ceramic an electrode layers. This study presents synthesis of nano-oxide-added Ag/Pd powders and its feasibility to candidate material tolerable at high temperature. The powders were formed in a co-precipitation process of Ag and Pd in nano-oxide-dispersed solution where Ag and Pd precursors are melted in $HNO_3$ acid.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제14권3호
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• pp.188-199
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• 2014

Although the fuzzy logic controller is superior to the proportional integral derivative (PID) controller in motor control, the gain tuning of the fuzzy logic controller is more complicated than that of the PID controller. Using mathematical analysis of the proportional derivative (PD) and fuzzy logic controller, this study proposed a design method of a fuzzy logic controller that has the same characteristics as the PD controller in the beginning. Then a design method of a fuzzy logic controller was proposed that has superior performance to the PD controller. This fuzzy logic controller was designed by changing the envelope of the input of the of the fuzzy logic controller to nonlinear, because the fuzzy logic controller has more degree of freedom to select the control gain than the PD controller. By designing the fuzzy logic controller using the proposed method, it simplified the design of fuzzy logic controller, and it simplified the comparison of these two controllers.

• The Journal of Korean Physical Therapy
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• 제18권1호
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• pp.65-73
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• 2006

Purpose: The purpose of this study was to identify the effect of electroacupuncture(EA) and transcutaneous electric nerve stimulation(TENS) after sciatic nerve crush injury in rats. Methods: The EA for experimental group I (Exp I, n=15) and TENS for experimental group II (Exp II, n=15) was applied from post-injury day(PD) 1 to PD 14 after sciatic nerve injury using low frequency stimulator that gave electrical stimulation(15min/60Hz). In order observe the effect of EA and TENS, this study examined GAP-43 expression in rat lumbar spinal cord at the PD 1, PD 7 and PD 14. In addition, the stride length(SL) and toe out angle(TOA) were measured at the PD 7 and PD 4. Results; Exp I and Exp II had higher GAP-43 immunoreactivity than control group(PD 1, 7, 14). The SL of Exp I and Exp II were significantly higher than control group(PD 7, 14). The TOA of Exp I and Exp II were significantly lower than control group(PD 7, 14). Conclusion: EA and TENS application increased motor nerve recovery and expression of GAP-43 immunoreactivity after sciatic nerve crush injury. Therefore effect of TENS and EA had similar effect on nerve regeneration and functional recovery.

• 한국정보통신학회논문지
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• 제4권3호
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• pp.619-625
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• 2000

많은 제어기법들이 이산시간영역제어계의 제어성능을 개선시키기 위해서 제안되고 있다. 위치제어계에서 일반적으로 제어기의 출력이 제어대상의 입력으로 사용된다. 그러나 불필요한 잡음이 제어기의 출력에 포함된다. 그러므로 이러한 잡음을 제거하기 위해서 전치보상기를 사용할 필요가 있다. 본 논문에서 전치보상기를 갖는 확대 I-PD 제어계를 구성하였고 이 전치보상기와 I-PD 제어기를 신경망으로 설계하였다. 그리고 전치보상기와 I-PD제어기의 계수들이 계의 응답특성들이 어떤 조건 하에서 변할 때 계의 희망하는 응답이 되도록 자동적으로 조정되도록 하였다.

• 조명전기설비학회논문지
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• 제18권6호
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• pp.84-90
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• 2004

제어계에서 제어성능을 개선시키기 위해서 많은 제어기법들이 제안되어왔다. 궤환제어계에서 일반적으로 제어기의 출력이 제어대상의 입력으로 사용된다. 그러나 불필요한 잡음이 제어기의 출력에 포함된다. 그러므로 이러한 잡음을 제거하고 계의 응답특성을 개선시키기 위해서 전치보상기를 사용할 필요가 있다. 본 논문에서는 모델추종제어를 위한 전치보상기의 설계법을 I-PD 제어계에서 제안하였다. 제안한 전치보상기를 신경망으로 구현하였고, 계의 응답특성이 어떤 조건하에서 변할 때 원하는 응답이 되도록 전치보상기의 이득이 자동적으로 조정되도록 하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.85-88
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• 2000

In this paper, the ultra precision positioning system for piezoelectric actuator using hysteresis compensation has been developed. Piezoelectric actuators exhibit limited accuracy in tracking control due to their hysteresis nonlinearity. The main purpose of the proposed controller is to compensate the hysteresis nonlinearity of the piezoelectric actuator. The controller is composed of a PD, hysteresis compensation and neural network part in parallel manner, at first, the excellent tracking performance of the neural network controller was verified by experiments and was compared with the classical PD controller.

• International Journal of Control, Automation, and Systems
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• 제4권5호
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• pp.545-558
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• 2006

In this paper, PD-like visual servoing is modified in two ways: a sliding-mode observer is applied to estimate the joint velocities, and a RBF neural network is used to compensate the unknown gravity and friction. Based on Lyapunov method and input--to-state stability theory, we prove that PD-like visual servoing with the sliding mode observer and the neuro compensator is robust stable when the gain of the PD controller is bigger than the upper bounds of the uncertainties. Several simulations are presented to support the theory results.

• 제어로봇시스템학회논문지
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• 제9권4호
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• pp.259-269
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• 2003

This paper considers the problem of determining a set of PI, PD and PID controller gains, for a given linear time invariant plant, that meets or exceeds the closed loop step response specifications. The proposed method utilizes two recent results: for a given system, (1) finding a set of stabilizing PI, PD and PID gains and (2) the relationship between time response (overshoot and speed) and the coefficients of the characteristic polynomial. The method allows us to extract a subset of PI, PD and PID gains that meets stability as well as time domain performance requirements. The intersections of two dimensional sets described by linear and quadratic inequalities in the controller design space are need to be Identified through numerical computation. The procedure is illustrated by examples.

• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.951-957
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• 2015

This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.