• Title/Summary/Keyword: PID controller PID

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Design and Implementation of UAV's Autopilot Controller

  • Lee, Jeong-Hwan;Lee, Ki-Sung;Jeong, Tae-Won
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.52-56
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    • 2004
  • Unmanned Aerial Vehicles (UAVs) are remotely piloted or self-piloted aircraft by inputted program in advance or artificial intelligence. In this study Aileron and Elevator are used to control the movement of airplane for horizontal and vertical flights about its longitudinal and lateral axis. In an introduction, the drone was linearly modeled by extracting aerodynamic parameter through flight test and simulation, lift and drag coefficient corresponding to angle of attack, changes of pitching moment coefficient. In the main subject, the flight simulation was performed after constructing hardware using TMS320F2812 from TI company and PID with lateral and longitudinal controller for horizontal and vertical flights. Flying characteristics of two system were estimated and compared through real flight test with hardware equipped algorithm and adaptive algorithm that was applied to consider external factors such as turbulence. In conclusion the control performance of the controller with proposed algorithm was streamlined at lateral and longitudinal controller respectively, we will discuss guidance command to pass way point.

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Design of Neural Controller and Performance analysis for Piezoelectric Ultrasonic Motor (압전 초음파 모터의 성능분석과 신경망 제어기 설계)

  • Yu, Eun-Jae;Kim, Jeung-Do;Hong, Chul-Ho;Kim, Dong-Jin;Jeong, Yeong-Chang
    • Proceedings of the KIEE Conference
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    • 2004.11c
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    • pp.754-756
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    • 2004
  • The ultrasonic piezo motor is a new type motor that has an excellent performance and many useful features that electromagnetic motors do not have. But, it suffers from severe system non-linearities and parameter variations especially during speed control. Therefore, it is difficult to accomplish satisfactory control performance by using the conventional PID controller. In this paper, to achieve the precise control, we analyzed response time & change with a driving time, and proposed PD controller combined with neural network. The backpropagation algorithm is used to train a given trajectory. The effectiveness of the used method is confirmed by experiments. The effectiveness of the used method is confirmed by experiments using the ultrasonic motor made in Korea.

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Dynamic analysis and control of a robot leg with a shock absorber (완충기를 가진 로봇다리의 동역학 해석 및 동적 보행제어)

  • Oh, Chang-Geun;Kang, Sung-Chul;Lee, Soo-Yong;Kim, Mun-Sang;Yoo, Hong-Hee
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.22 no.4
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    • pp.768-778
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    • 1998
  • Human beings usually absorb a shock from terrain during walking through the damping effects of joints, muscles and skin. With this analogy, a robot-leg with a shock absorber is built to absorb the impact forces at its foot during high-speed walking on irregular terrain. To control the hip position while walking, the dynamic controller suitable for high speed walking is designed and implemented based on a dynamic model by Kane's equation. The hip position tracking performances of various controllers (PID controller, computed torque controller and feedforward torque controller) are compared through the experiments of the real robot-leg.

Design of Rule-Based Controller for DC Motor using Fuzzy Reasoning (퍼지추론을 이용한 DC모터의 규칙기반 제어기 설계)

  • Kim, S.J.;Choi, H.S.;Choi, J.S.;Kim, Y.C.;Cho, H.
    • Proceedings of the KIEE Conference
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    • 1991.07a
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    • pp.703-707
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    • 1991
  • During the past several years, fuzzy control has emerged as one of the most active and fruitful areas for reaserch in the applications of fuzzy set theory. A key component of the fuzzy controller is a rule-based system which provides a linguistic description of control strategy. This strategy has the form of a collection of fuzzy conditional statements which are implemented and manipulated using fuzzy set theory. In this paper, we propose the rule-based controller for DC motor speed control. The result of performance compare with PID controller to verify the validity of proposed algorithm.

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Precision Position Control System of Piezoelectric Actuator Using Inverse Hysteresis Modeling and Error Learning Method (역 히스테리시스 모델링과 오차학습을 이용한 압전구동기의 초정밀 위치제어)

  • 김형석;이수희;정해철;이병룡;안경관
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.383-388
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    • 2004
  • A piezoelectric actuator yields hysteresis effect due to its composed ferroelectric. Hysteresis nonlinearty is neglected when a piezoelectric actuator moves with short stroke. However when it moves with long stroke and high frequency, the hysteresis nonlinearty can not be neglected. The hysteresis nonlinearty of piezoelectric actuator degrades the control performance in precision position control. In this paper, in order to improve the control performance of piezoelectric actuator, an inverse modeling scheme is proposed to compensate the hysteresis nonlinearty problem. And feedforward - feedback controller is proposed to give a good tracking performance. The Feedforward controller is inverse hysteresis model, Nueral network and PID control is used as a feedback controller. To show the feasibility of the proposed controller and hysteresis modeling, some experiments have been carried out. It is concluded that the proposed control scheme gives good tracking performance

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Adaptive predictive level control of waste heat steam boiler based on bilinear model (쌍일차 모델을 이용한 폐열 스팀 보일러의 액위 적응 예측 제어)

  • Oh, Sea-Cheon;Yeo, Yeong-Koo
    • Journal of Institute of Control, Robotics and Systems
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    • v.2 no.4
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    • pp.344-350
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    • 1996
  • An adaptive predictive level control of waste heat steam boiler was studied by using mathematical models considering the inverse response. The simulation experiments of the model identification were performed by using linear and bilinear models. From the results of simulations it was found that the bilinear model represented the actual dynamic behavior of steam boiler very well. ARMA model was used in the model identification and the adaptive predictive controller. To verify the performance and effectiveness of the adaptive predictive controller used in this study the simulation results of the adaptive predictive level control for waste heat steam boiler based on bilinear model were compared to those of P, PI and PID controller. The results of simulations showed that the adaptive predictive controller provides the fast arrival to setpoint of liquid level.

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A Study on the Speed Control of a Sensorless DC Motor by using a Fuzzy Controller (퍼지제어기를 이용한 센서리스 직류전동기의 속도제어에관한연구)

  • 하주식
    • Journal of Advanced Marine Engineering and Technology
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    • v.22 no.3
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    • pp.311-319
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    • 1998
  • DC Motors have been widely used in industry as driving power motors for electrical vehicles cranes and winches due to their strong starting torques and as servo-motors for position and speed control systems due to their convenience of speed control etc. Generally in the speed control systems of motors speed sensors are required and this fact results in he increased price and operating cost and in the limitted applications. This paper presents a new speed control method for sensorless DC motors. In this scheme the speed signal is estimatd by the measurement values of the armature voltage and current. A Fuzzy feedback controller instead of the conventional PID controller. Through simulations the effectiveness and usefullness of the proposed method are illustrated.

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Design of Dead Time Compensator with Robustness (강인한 특서을 갖는 지연시간 보상기의 설계)

  • 박귀태;이기상;김성호
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.41 no.2
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    • pp.199-208
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    • 1992
  • MIESF(Modified Integral Error and State Feedback) controller suggested in order to control the processes with time delay is the control scheme that combines Smith predictor and IESF(Integral Error and State Feedback). This control scheme has better performance than the conventional PID controller incorporating Smith predictor with respect to the robustness and control performance for the modelling error. MIESF controller can be simply designed by pole assignment algorithm. BUT in such a case, it is difficult to find proper poles which gurantee robustness with respect to process parameter uncertainties. In order to solve the aforementioned difficulties, we suggest a new design method for MIESF controller and show the validity of the proposed design method.

Position Control by Fuzzy Logic Controller with Acceleration Converter

  • Park, Jin-Bae;Shohei, Niwa
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.108.4-108
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    • 2001
  • The integrated environment for the fuzzy logic controller with the acceleration converter to improve the dynamic characteristic of a one-axis moving table is proposed in the paper. The two inputs of the fuzzy logic controller are position error and velocity. The two inputs of the acceleration converter used to produce the acceleration input for the one-axis moving table are actual and setting rotational speeds. The proposed controller is implemented on a personal computer by using MATLAB and Visual Basic for a real time control via a motion control board. The position control results when the stair input is applied to control the position of the one-axis moving table, are shown. The experimental results of the proposed position control system are compared to the conventional PID ...

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Design of fuzzy speed/phase controller for drum motor in home VCR (VCR용 드럼 모터의 퍼지 속도/위상 제어기 설계)

  • 박귀태;이기상;박태홍;배상욱;이상락
    • 제어로봇시스템학회:학술대회논문집
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    • 1991.10a
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    • pp.457-462
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    • 1991
  • Recently, digital techniques have been applied to servo systems of the home VCR, which result in high accuracy, high stability and a small number of parts required. The servo systems are now becoming more compex because the latest home VCRs are stringly required to have many functions. Given these circumstances, software servo concepts were introduced to the VCR servo system with microprocessor. But there are some difficulties in the conventional digital PID controller, eg. caculating the exact gains or dynamics. In this paper, we introduce FLC(Fuzzy Logic Controller) to the speed/phase control for VCR drum motor. To show the usefulness of the proposed controller, some studies are discussed by simulation and experiment.

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