• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2007.12a
• /
• pp.307-308
• /
• 2007

In general, most physical systems are complex, highly non-linearity, affected by disturbance, incomplete knowledge, and even interactive change with the operating points. To solve this problem, the research of modem control theory and controller is proceeding. Before appling the proposed controller to the real system, however, it needs an apparatus which can verify the proposed controller for being not damaged the plant. In this paper, therefore, a RCGA-based PI-type state feedback controller using reduced-order observer is implemented and applied to the seesaw system and a series of simulation are carried out to verify the effectiveness of the control system.

• Journal of Power Electronics
• /
• v.11 no.4
• /
• pp.393-400
• /
• 2011

The main objective of this paper is to control the speed of Nonlinear Hybrid Electric Vehicle (HEV) by controlling the throttle position. Various control techniques such as well known Proportional-Integral-Derivative (PID) controller in conjunction with state feedback controller (SFC) such as Pole Placement Technique (PPT), Observer Based Controller (OBC) and Linear Quadratic Regulator (LQR) Controller are designed. Some Intelligent control techniques e.g. fuzzy logic PD, Fuzzy logic PI along with Adaptive Controller such as Self Organizing Controller (SOC) is also designed. The design objective in this research paper is to provide smooth throttle movement, zero steady-state speed error, and to maintain a Selected Vehicle (SV) speed. A comparative study is carried out in order to identify the superiority of optimal control technique so as to get improved fuel economy, reduced pollution, improved driving safety and reduced manufacturing costs.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.17 no.5
• /
• pp.859-866
• /
• 2022

Active disturbance rejection control is a method in which the disturbance is removed from the controller by estimating the state variable using the Luenberger observer. The Luenberger observer is estimated by defining a nonlinear term including disturbance with constant characteristics in a steady state as a state variable. It can be shown that the speed tracking performance is improved by compensating the estimated state variable to the PI controller and the IP controller. The disturbance removal performance of the tracking control can be confirmed by observing that the estimated state error is within 1.9 [%] in the case of load fluctuation and the steady-state state tracking error converges to zero.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.17 no.7
• /
• pp.380-388
• /
• 2016

Using the magnet gear, it is possible to transmit power without mechanical contact. As the drive shaft in a magnet gear-based speed reducer system is isolated from the drive shaft, the system is a two-inertia resonance system that should cope with an external load with the limited air-gap stiffness. On the other hand, the drive shaft or low-speed side is controlled only by the torque of the drive shaft through an air-gap, and the excessive oscillation or the slip can then be generated because of an abrupt disturbance that is different from the general mechanical gear system. Therefore, the disturbance loaded at the low speed side should be measured or estimated, and considered in the control of the driving shaft. This paper proposes a novel full-state feedback controller with a reduced-order observer for the speed reducer system using a magnet gear with a unified harmonic modulator. The control method was verified by simulation and experiment. To estimate the load at the low speed side, a novel observer was designed, in which the new state variable is introduced and the new state equation is formulated. Using a full-state feedback controller including the observer, the test result against disturbance was compared with two D.O.F PI speed controllers. The pole slip was compensated within relatively a short time, and the simulation result about the estimated variable shows a similar tendency to the test result. The test results showed that the magnet gear-based reducer can be applied to an accurate servo system.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.11 no.6
• /
• pp.923-934
• /
• 1987

A flexible one-link robotic manipulator is modelled as a rotating cantilever beam with a hub and tip mass. An active control law is developed with consideration of the distributed flexibility of the arm. Equation of motion is derived by Hamilton's principle and, for modal control, represented as state variable form using Galerkin's mode summation method. Feedback coefficients are chosen to minimize the linear quadratic performance index(PI). To reconstruct the complete state vector from the measurements, an observer is proposed. In order to suppress vibration of the manipulator arm to desirable extent and to obtain accuracy of the positioning, weighting factor of input in PI is adjusted. Spillover effect due to the controller which controls several important modes is examined. Experiment is also performed to validate the theoretical analysis.

• Journal of Power Electronics
• /
• v.16 no.3
• /
• pp.1076-1086
• /
• 2016

PI controllers are one of the most widely used controllers in industrial control systems due to their simple algorithms and stability. The parameters K_p and K_i determine the performance of the system response. The response is expected to improve by increasing the gain of the PI controller. However, too large a gain will accelerate the speed response and cause vibrations, which is not what is expected. This paper proposes a way to suppress vibrations by detecting the vibration frequency and extracting the vibration signal as a compensation to the speed feedback. Additionally, in order to improve its disturbance rejection ability, a low-order disturbance observer is proposed. This paper also explains the operation principle of the proposed method by analyzing the transfer function and it describes the design of the controller parameters in detail. Simulation and experimental results are provided to verify the merits of the proposed method. These results also show the good performance of the proposed method. It has a rapid response and suppresses vibrations.

• Journal of Korean Foot and Ankle Society
• /
• v.13 no.1
• /
• pp.1-6
• /
• 2009

Purpose: To study the reliability of intra- and interobserver reliability in angular measurement of hallux valgus deformity by assessing hallux valgus angle (HVA) and the 1st to 2nd intermetatarsal angle (1-2 IMA) through using computerized system. Materials and Methods: 20 cases of moderate to severe hallux valgus patients were included in this study. With the standing anteroposterior view of foot, the HVA and 1-2 IMA were calculated by computerized measurement system of Infinity cooperation, called ${\pi}$-view, with its software tools. Using the statistical software program, SPSS (version 12th), we interpreted the results which were measured by two independent observers. Results: In the intraobserver measurement, the HVA of observer A showed reliability ($32.5^{\circ}{\pm}6.9$ and $33.1^{\circ}{\pm}6.8$)(p<0.05). 1-2 IMA in observer A was not regarded as reliable ($16.9^{\circ}{\pm}2.8$ and $17.1^{\circ}{\pm}2.8$)(p>0.05). In the results of observer B, HVAs were measured as $35.7^{\circ}{\pm}7.6$ and $36.2^{\circ}{\pm}7.7$, and were not reliable (p>0.05). 1-2 IMA in observer B was not reliable as well ($17.0^{\circ}{\pm}0.8$ and $20.8^{\circ}{\pm}1.5$)(p>0.05). In the interobservers' measurements, the first and the second results of HVA were $3.2^{\circ}{\pm}3.6$ and $3.1^{\circ}{\pm}3.1$, reliable within the 95% confidence interval (p<0.05). 1-2 IMAs were $0.1^{\circ}{\pm}1.9$ and $3.73^{\circ}{\pm}1.3$, which were not reliable (p>0.05). Conclusion: In the angular measurement of the hallux valgus by computerized system, the HVA and 1-2 IMA showed less error range in the interobserver's results, compared with the previous studies about the manual measurement. However, our results failed to show the statistical reliability of intra- and interobserver's measuring. Therefore, even the computerized angular measurements in the severity of hallux valgus require development of the measuring methods and software tools.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.54 no.1
• /
• pp.48-55
• /
• 2005

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm adjusts the driving torque for restraining re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy, These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.63 no.9
• /
• pp.1245-1247
• /
• 2014

This paper presents a robust position tracking controller for motor-driven flexible joint manipulators using only the motor angle measurement. The control problem is not easy because the link position is hard to estimate in the presence of parameter uncertainties. The proposed controller consists of a feedback linearization controller (FLC) and two proportional-integral observers (PIOs) that estimate both system states including the link position and an equivalent disturbance for compensating the parameter uncertainties. Comparative computer simulations are conducted to demonstrate the effectiveness of the proposed control algorithm.

• Proceedings of the KIPE Conference
• /
• 2004.07a
• /
• pp.1-5
• /
• 2004

This paper describe a control scheme for direct torque control of BLDC Motor. The proposed Luenberger Observer scheme calculate flux errors in order to control the torque and flux more correctly. This proposed control scheme has not the requirement of a separate current regulator and proportional-integral (PI) control of the flux and torque, there by improving transient performance and also has the advantage of less torque ripple in steady state with a fixed switching period. The effect of proposed method has been proven by simulations.