• 전기학회논문지
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• 제63권7호
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• pp.987-993
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• 2014

Pitching machines have been around for many years for casual amusement purpose or professional athletes' training usage, and so forth. The current pitching machines are usually built on the firm ground and do not have any mobility function. In this paper, we develop a pitching machine that has both ball-shooting and mobility functions. Our developed pitching machine consists of two parts. The upper body part has a function of shooting a ball using two DC motors and the lower body part has a function of mobility like mobile robots by using two wheels governed by DC motors. All these functions are operated wirelessly by Android smartphones via bluetooth. The control of each DC motor is done by ${\epsilon}$-PID control method in which the gain tuning is simplied by using a single parameter ${\epsilon}$. Simulation and actual experiment show that our developed pitching machine has both nontrivial shooting and mobility features.

• 해양환경안전학회지
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• 제22권1호
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• pp.129-137
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• 2016

본 연구의 목적은 가까운 미래의 선박운동정보를 이용하는 피드포워드 제어알고리즘과 FPSO 운동 수치 시뮬레이션 모델을 개발하고 시뮬레이션을 통하여 제어알고리즘의 성능을 검증하는 것이다. 본 논문에서는 조류, 바람, 파력 등의 환경하중에 의하여 발생한 선체운동의 미래 예측치를 활용한 피드포워드 제어력을 추가적으로 가지는 Dynamic Positioning System에 대하여 연구한다. 먼저, 조류력, 풍력 및 파력에 대한 수학모델을 선정하여 환경하중에서의 선체운동을 계산하고, 현재의 선체운동 값과 Brown 지수평활 예측모형을 활용하여 미래 선체운동 값을 예측하였다. 또한 위치 유지와 Heading angle 제어를 위한 제어력을 PID(Proportional-Integral-Derivative)이론을 이용하여 결정한 피드백 제어기와 미래 선체운동 값을 이용하여 결정한 피드포워드 제어기로 구성하였다. 그리고 각 Thruster에 요구되는 추력은 라그랑지승수법을 활용하여 분배하였다. 마지막으로 FPSO(Floating Production Storage and Offloading)의 운동과 Dynamic Positioning System에 대한 시뮬레이션 모델을 구축하여 선박의 위치 및 Heading angle 제어에 관한 시뮬레이션을 수행하여 제안하는 피드백 제어기와 피드포워드 제어기를 동시에 가지는 제어시스템의 성능을 평가하였다. 본 연구의 결과, 피드백 및 피드 포워드 제어기가 적용된 DPS 제어시스템이 기존의 피드백 제어기보다 위치유지 및 헤딩각 유지 능력에서 개선되었고 각 Thruster에 요구되는 평균 제어력 및 최대 제어력의 크기도 감소함을 보였다. 이에 따라 DPS에 요구되는 동력 감축과 Azimuth Thruster 용량의 감소로 인하여 비용 절감의 효과를 기대할 수 있다.

• 대한조선학회논문집
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• 제55권5호
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• pp.401-414
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• 2018

Planing hull type ships are often equipped with interceptor or trim tab to improve the excessive trim angle which leads to poor resistance and sea keeping performances. The purpose of this study is to design a controller to control the attitude of the ship by controllable stern interceptor and validate the effectiveness of the attitude control by the towing tank test. Embedded controller, servo motor and controllable stern interceptor system were equipped with planing hull type model ship. Prior to designing the control algorithm, a model test was performed to identify the system dynamic model of the planing hull type ship including the stern interceptor. The matrix components of model were optimized by Genetic Algorithm. Using the identified model, PID controller which is a classical controller and sliding mode controller which is a nonlinear robust controller were designed. Gain tuning of the controllers and running simulation was conducted before the towing tank test. Inserting the designed control algorithm into the embedded controller of the model ship, the effectiveness of the active control of the stern interceptor was validated by towing tank test. In still water test with small disturbance, the sliding mode controller showed better performance of canceling the disturbance and the steady-state control performance than the PID controller.

• Nuclear Engineering and Technology
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• 제41권1호
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• pp.125-134
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• 2009

This paper presents details on a tube inspection robotic system and a positioning method of the robot for a steam generator (SG) in nuclear power plants (NPPs). The robotic system is separated into three parts for easy handling, which reduces the radiation exposure during installation. The system has a supporting leg to increase the rigidity of the robot base. Since there are several thousands of tubes to be inspected inside a SG, it is very important to position the tool of the robot at the right tubes even if the robot base is positioned inaccurately during the installation. In order to obtain absolute accuracy of a position, the robot kinematics was mathematically modeled with the modified DH(Denavit-Hartenberg) model and calibrated on site using tube holes as calibration points. To tune the PID gains of a commercial motor driver systematically, the time delay control (TDC) based gain tuning method was adopted. To verify the performance of the robotic system, experiments on a Framatomes 51B Model type SG mockup were undertaken.

• IEIE Transactions on Smart Processing and Computing
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• 제5권1호
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• pp.35-42
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• 2016

Developments in power electronics have enabled the widespread application of Pulse Width Modulation (PWM) inverters, notably for connecting renewable systems to the grid. This study demonstrates that a high-quality power can be achieved using a stand-alone inverter, whereby the comparison between the power quality of the stand-alone inverter with battery storage (off-grid) and the power quality of the utility network is presented. Multi-loop control techniques for a single phase stand-alone inverter are used. A capacitor current control is used to give active damping and enhance the transient and steady state inverter performance. A capacitor current control is cheaper than the inductor current control, where a small current sensing resistor is used. The output voltage control is used to improve the system performance and also control the output voltage. The inner control loop uses a proportional gain current controller and the outer loop is implemented using internal model control proportional-integral-derivative to ensure stability. The optimal controls are achieved by using the Sisotool tool in MATLAB/Simulink. The outcome of the control scheme of the numerical model of the stand-alone inverter has a smooth and good dynamic performance, but also a strong robustness to load variations. The numerical model of the stand-alone inverter and its power quality are presented, and the power quality is shown to meet the IEEE 519-2014. Furthermore, the power quality of the off-grid system is measured experimentally and compared with the grid power, showing power quality of off-grid system to be better than that of the utility network.

• Journal of Mechanical Science and Technology
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• 제19권3호
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• pp.778-791
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• Journal of Advanced Marine Engineering and Technology
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• 제39권5호
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• pp.563-569
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• 2015

A chemical reaction occurring in CSTR (Continuous Stirred Tank Reactor) is significantly affected by the concentration, temperature, pressure, and reacting time of materials, and thus it has strong nonlinear and time-varying characteristics. Also, when an existing linear PID controller with fixed gain is used, the performance could deteriorate or could be unstable if the system parameters change due to the change in the operating point of CSTR. In this study, a technique for the design of a fuzzy PD plus I controller was proposed for the temperature control of a CSTR process. In the fuzzy PD plus I controller, a linear integral controller was added to a fuzzy PD controller in parallel, and the steady-state performance could be improved based on this. For the fuzzy membership function, a Gaussian type was used; for the fuzzy inference, the Max-Min method of Mamdani was used; and for the defuzzification, the center of gravity method was used. In addition, the saturation state of the actuator was also considered during controller design. The validity of the proposed method was examined by comparing the set-point tracking performance and the robustness to the parameter change with those of an adaptive controller and a nonlinear proportional-integral-differential controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2508-2513
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• 2003

This paper presents a nuclear steam generator tube inspection/maintenance robot system. The robot assists in automatic non-destructive testing and the repair of nuclear steam generator tubes welded into a thick tube sheet that caps a hemispherical or quarter-sphere plenum which is a high-radiation area. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water-chamber entering and leaving device for the manipulator and a manipulator base pose adjusting device. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3-D graphic simulation function which offers remote reality to operators and so on. The image information acquired from the camera attached to the end-effecter is used to calibrate the end-effecter pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory.