• Journal of Advanced Marine Engineering and Technology
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• 제39권5호
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• pp.577-585
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• 2015

This paper deals with development of an autopilot system for leisure yacht based on NMEA 2000 network and android platform. The developed system can operate both for manual steering and automatic navigation mode. In automatic steering mode, after manipulation of commands which are NMEA 0183 sentences by android platform, the developed system translates and sends the packets through NMEA 2000 network. Then the controller which is connected to NMEA 2000 network receives the commands and controls the boat's rudder system automatically. The automatic steering mode is achieved by cooperation of two controllers; one for controlling the rudder system, and the other for controlling the vessel's heading. To control the vessel's rudder and heading angle two PID controllers are developed with an adjustable dead-band gain. Also, in order to eliminate the steady-state error occurred by applying dead-band, an integral controller which specifically supervises the system's behavior inside the dead-band area is developed. In this paper, at the first stage, simulations are accomplished using computer in order to examine the feasibility of the proposed based on simulation results. In the next step, the system on a real hydraulic steering model is implemented and at the end the performance examination by implementing it on a real boat and doing test navigation is executed.

• 전기학회논문지
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• 제65권6호
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• pp.1089-1094
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• 2016

In order to establish the robust controller design technique of series wound motor driver system. This paper proposes a method of Bang-Bang controller using a series wound motor driver system under improperly variable load. A Bang-Bang controller structure is simpler than the structure of PID plus Bang-Bang controller. This paper shows that a general 8 bits microprocessor is used efficiently implementing such an algorithm. The calculation time of software is extremely small when compared with conventional PID plus Bang-Bang controller. Both nonlinear operating characteristics of digital switching elements and describing function methods are used for the analysis and synthesis. Real time implementation of Bang-Bang controller is achieved. Concept design strategy of the control and PWM waveform generation algorithms are presented in the paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.620-628
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• 1991

For a Stationary moving-target. the design technique of guidance system for underwater vehicle with a seeker of st type is developed. Using perturbation theory, a new method which linearizes the nonlinear intercept geometry is proposed. On the basis of the linearized system modeling, LQ and PID design technique is used to determine the structure and gain of the guidance system. Some simulation results applied underwater engagement are represented to show that the proposed guidance law is superior to the other guidance laws as pursuit, Bang-Beng, PN APN.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.414-421
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• 2007

This paper presents a engine/brake integrated VDC(Vehicle Dynamic Control) system using neural network algorithm methods for wheel slip and yaw rate control. For stable performance of vehicle, not only is the lateral motion control(wheel slip control) important but the yaw motion control of the vehicle is crucial. The proposed NNPI(Neural Network Proportional-Integral) controller operates at throttle angle to improve the performance of wheel slip. Also, the suggested NNPID controller performs at brake system to improve steering performance. The proposed controller consists of multi-hidden layer neural network structure and PID control strategy for self-learning of gain scheduling. Computer Simulation have been performed to verify the proposed neural network based control scheme of 17 dof vehicle dynamic model which is implemented in MATLAB Simulink.

• 전자공학회논문지S
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• 제35S권7호
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• pp.22-28
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• 1998

This paper includes AC servo motor speed control usig the predictive control strategy. Generally, AC servo motor control should have the fast response characteristics. For the issue, sliding mode control and PID control have been applied. However, the former has the speed ripple response due to the chattering and the latter requires the many trial efforts. Originally, the predictive control which has been used in process control area does not need the priori knowledge for the application system and it is easy to compute the optimal gain with the prediction. In this paper, the TMS320C31 DSP pocessor is used for AC motor control with fst dynamics and the tuning guid-line for the parameters of the predictive control algorithm is given in order to reduce the computation load. Also, the actuator saturationis implemented uisngthe QP(Quadratic Programming) method and the transient response is improved by the identified intertia coefficient when AC motor is drived at forward/reverse rotation.

• 대한기계학회논문집A
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• 제21권9호
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• pp.1462-1469
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• 1997

This study presents a genetic algorithm-based method for optimizing control parameters in fluid power systems. Genetic algorithms are general-purpose optimization methods based on natural evolution and genetics. A genetic algorithm seeks control parameters maximizing a measure that evaluates system performance. Five control gains of the PID-PD cascade controller fr an electrohydraulic speed control system with a variable displacement hydraulic motor are optimized using a genetic algorithm in the experiment. Optimized gains are confirmed by inspecting the fitness distribution which represents system performance in gain spaces. It is shown that optimization of the five gains by manual tuning should be a task of great difficulty and that a genetic algorithm is an efficient scheme giving economy of time and in labor in optimizing control parameters of fluid power systems.

• International Journal of Precision Engineering and Manufacturing
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• 제3권3호
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• pp.12-20
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• 2002

As numerous sensors and actuators are used in many automated systems, various industrial networks are adopted for real-time distributed control. In order to take advantages of the networking, however, the network implementation should be carefully designed to satisfy real-time requirements considering network induced delays. This paper presents an implementation scheme of a networked control system via Profibus-DP network fur real-time distributed control. More specifically, the effect of the network induced delay on the control performance is evaluated on a Profibus-DP testbed. Also, two conventional PID gain tuning methods are slightly modified fur fouling controllers fur the networked control system. With appropriate choices for gains, it is shown that the networked control system can perform almost as well as the traditional control system.

• 한국정밀공학회지
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• 제30권8호
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• pp.831-838
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• 2013

This paper focused on the design of an efficient temperature controller for a plant with a wide range of operating temperatures. The greater the temperature difference a plant has, the larger the nonlinearity it is exposed to in terms of heat transfer. For this reason, we divided the temperature range into five sections, and each was modeled using ARMAX(auto regressive moving average exogenous). The movement of the dominant poles of the sliced system was analyzed and, based on the variation in the system parameters with temperature, optimal control parameters were obtained through simulation and experiments. From the configurations for each section of the temperature range, a temperature-based gain-scheduled controller (TBGSC) was designed for parameter variation of the plant. Experiments showed that the TBGSC resulted in improved performance compared with an existing proportional integral derivative (PID) controller.

• 한국정밀공학회지
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• 제15권10호
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• pp.165-171
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• 1998

An axial electromagnetic levitation system using attractive force is a highly nonlinear system due to the nonlinearity of materials, variable air gap and flux density. To control the levitating system with large air gap, a conventional PID control based on the linear model is not satisfactory to obtain the desired performance and the position tracking control of the sinusoidal motion by simulation results. Thus, sliding mode control(SMC) based on the input-output linearization is suggested and evaluated by simulation and experimental approaches. Usefulness of the SMC to this system is conformed experimentally. If the expected variation of added mass can be included in the gain conditions and the model, the position control performance of the electromagnetic levitation system with large air gap will be improved with robustness.

• 제어로봇시스템학회논문지
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• 제2권1호
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• pp.60-66
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• 1996

Model Based Predictive Control(MBPC) has been widely used in predictive control since 80's. GPC[1] which is the superset of many MBPC strategies a popular method, but GPC has some weakness, such as insufficient stability analysis, non-applicability to internally unstable systems. However, CRHPC[2] proposed in 1991 overcomes the above limitations. So we chose RHPC based on CRHPC for electric furnace control. An electric furnace which has nonlinear properties and large time delay is difficult to control by linear controller because it needs nearly perfect modelling and optimal gain in case of PID. As a result, those controls are very time-consuming. In this paper, we applied RHPC with equality constraint to electric furnace. The reults of experiments also include the case of RHPC with monotonic weighting improving the transient response and including unmodelled dynamics. So, This paper proved the practical aspect of RHPC for real processes.