• International Journal of Internet, Broadcasting and Communication
• /
• 제9권1호
• /
• pp.1-8
• /
• 2017

Nowadays many articles describe the controlling models for four rotor flying vehicle. Basic approaches to the problem of these articles are mathematical expressions describing dynamics of the models of the vehicle and PID control for manipulating the object in 3 dimensional space. Design of control systems is usually started by careful consideration of its mathematical model description. We present a detailed mathematical model for a quad rotor. This paper first considers simulation of quadcopter control based on full state feedback technique with linearization in MATLAB environment and shows the results of the simulations. Finally will be shown experimental results of the state feedback control implemented in real model.

• 전자공학회논문지B
• /
• 제31B권10호
• /
• pp.44-52
• /
• 1994

In this paper, we assume that the dynamics of DC motor and nonlinear load are unknown. We propose an inverse dynamic model of DC motor and nonlinear load using the artificial neural network and construck speed control system based on the proposed dynamic model. We also propose another dynamic model with speed prediction scheme using the artificial neural network that removes the undesirable time delay effect caused by the computation time during the real-time control. We suggest a dynamic model which has arbitrary number of speed arguments and is especially effective when the motor and load has large moment of inertia. Next, we suggest a controller that combine the neurocontrol and PID control with constant gain. We show that the proposed neurocontrol systems have capabilities of noise rejection and generalization to have good velocity tracking through computer simulations and experiments.

• 제어로봇시스템학회논문지
• /
• 제15권1호
• /
• pp.67-71
• /
• 2009

This paper presents a rank-constrained linear matrix inequality (LMI) approach to the design of a multi-objective controller such as $H_2/H_{\infty}$ control. Multi-objective control is formulated as an LMI optimization problem with a nonconvex rank condition, which is imposed on the controller gain matirx not Lyapunov matrices. With this rank-constrained formulation, we can expect to reduce conservatism because we can use separate Lyapunov matrices for different control objectives. An iterative penalty method is applied to solve this rank-constrained LMI optimization problem. Numerical experiments are performed to illustrate the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.286-286
• /
• 2000

We consider a negative unity feedback control system in which Che PIO, PI, PD or P controller and a transfer function having only poles are in cascade, We define the notion of the structural polynomial which means that there exists a subdomain of the coefficient space in which the polynomial is Hurwitz (left half plane stable) polynomial. We obtain the necessary and sufficient condition of the structure of the transfer function of which the characteristic polynomial is a structural polynomial, In addition, this paper present another necessary and sufficient condition for the existence of a constant gain controller with which the characteristic polynomial is structurally stable, For the structurally stabilizable P controller, it is allowed that the transfer function may not to all pole plants.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2011년도 춘계학술대회 논문집
• /
• pp.212-217
• /
• 2011

A scheduling technique for the improvement of yaw motion stability in in-wheel motor vehicle is proposed. Normally vehicle velocity is controlled via conventional PID method. When vehicle is encountered with different road conditions on left and right hand sides, unstable yaw motion is induced due to the driving force difference in both wheels. In this paper a scheduling formular for control gain is derived in terms of experimental results to generate proper counter control action. Simulation result reveals its effective performance in yaw control of in-wheel vehicle.

• 한국정밀공학회지
• /
• 제18권5호
• /
• pp.120-129
• /
• 2001

As many 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 delays. This paper presents the implementation of a remote feedback control system via Profibus-DP net work for real-time distributed control More specifically, the effect of the network delay on the control performance evaluated on Profibus-DP testbed. Also, the traditional PID gain tuning methods are used to demonstrate the feasibility of the remote feedback control.

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

• 한국자동차공학회논문집
• /
• 제3권6호
• /
• pp.176-187
• /
• 1995

The problem of designing intelligent cruise control system for a longitudinal motion of an automobile, which is powered by internal combustion engines coupled to an automatic multispeed transmission, is considered. The basic concept is a vehicle-following system which maintains desired spacing between vehicles. This system actuates throttle with the information of the spacing error so as to maintain proper spacing and improve passenger ride comfort. In designing the controller, a modified controller, i.e, PID gain scheduling and fuzzy controller with fuzzy compensator was developed in order to overcome the nonlinearities of the automobile and obtain better performance. The computer simulation results illustrate that the better vehicle responses were obtained with the modified fuzzy controller and, under this controller, the vehicle responses were found to be relatively insensitive to parameter variations.

• 한국에너지공학회:학술대회논문집
• /
• 한국에너지공학회 1995년도 춘계학술발표회 초록집
• /
• pp.199-206
• /
• 1995

200kW급 가스엔진 열병합시스템에서 엔진 냉각수는 엔진을 냉각시키는 기능 뿐아니라 배열회수용 열원으로 사용된다. 전력부하나 냉·난방 부하가 변할 때 엔진 냉각수의 온도가 민감하게 변하므로 이를 일정하게 제어하기 위하여 PID 제어기를 사용하고 있다. 본 연구는 이 제어기의 적정 이득값(gain)을 설정하기 위하여 공정 전달함수를 실험적방법을 이용하여 일차시간지연함수(First Order Plus Dead Time)로 근사한 후 여러 조율방법을 사용하여 이득값을 구하였다. 이 이득값과 전달함수를 가지고 공정모사기인 “MATLAB”을 사용하여 시스템에 적합한 적정이득값을 선정 하였으며 실증실험 결과 시스템의 온도동특성이 안정됨을 보였다.

• Journal of Advanced Marine Engineering and Technology
• /
• 제24권4호
• /
• pp.470-477
• /
• 2000

The states of control loops in existing actual systems are changed according to time varying conditions of controllest process and other system components. Adjusting control parameters properly at site which is performed generally by Ziegler & Nichols mthod is important for safe and efficient operation, but the method may require much time to adjust and not easy to inexperienced engineers. This study is aimed to propose more handy method to adjust control parameters by plotting operating conditions on the space of adjusting parameters. One loop of model control system without perturbation condition has been adopted and its stability limit was plotted on the coordinates of Gain and Integral time which was acquired after analyzing Nyquist diagrams and time domain responses. The result showed that the sets of adjusting parameters according to critical stability and proper stability could be acquired reasonably through both responses and the curves on parameter space revealed available patterns for the purpose of easy maintenance of control characteristics.