• 한국컴퓨터정보학회논문지
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• 제29권11호
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• pp.57-66
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• 2024

본 연구에서는 파라미터 변이 및 비선형 토크를 갖는 차량 전자식 스로틀 바디 시스템(ETB)의 딥러닝 기반의 파라미터 종속적인 PID 제어기 설계 방법을 나타낸다. 시스템 변화 및 부하용량 변화로 인하여 변이된 시스템의 주요 파라미터 값을 딥러닝을 이용하여 추정한다. 파라미터를 추정하기 위하여 심층 신경망을 설계하고, 시스템의 시간응답 특성(상승시간, 오버슈트, 정착시간)을 특성값으로 하여 신경망을 훈련한다. 훈련된 신경망으로부터 시간응답 특성값 이용하여 파라미터는 추정된다. 또한 추정된 파라미터에 동조되어 자동 조정되는 파라미터 종속 PID 제어기를 설계한다. PID 제어기의 최적 이득값은 ITAE 판별법에 의하여 찾아지며, 추정된 파라미터의 함수로 나타내어진다. 또한 비선형 토크의 영향을 감쇄하기 위하여 추정된 비선형 토크값을 상쇄시켜 줄 피드 포워드 제어기를 추가적으로 설계한다. 설계된 제어기의 제어 성능을 나타내기 위하여, 시뮬레이션을 통한 파라미터 변화 및 비선형 토크를 갖는 ETB 시스템의 제어 성능 결과를 나타낸다.

• 전기학회논문지
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• 제67권9호
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• pp.1202-1209
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• 2018

This paper is concerned with the problem of setting controller's parameters when applying the intelligent PID (i-PID), which has recently been proposed and had many successful results, to the two-degree-of-freedom (2DoF) PID controller structure. Generally, the parameter settings of conventional PID controllers are known to be quite difficult and be dependent on the characteristics of the plants. In addition, it is less known how the two 2DoF parameters are set up for the improvement of transient characteristics. Here, we are going to present one of the criteria for parameter setting in the case of using a 2DoF i-PID, by evaluating the error signals to the set-point and disturbance. That is, we first, obtain parameters of i-PID by optimizing the disturbance responses, and then determine two parameters of 2DoF component through optimizing set-point response. The standard values of all parameters are calculated for the 7 types of test batches and rounded up as a table.

• 대한전기학회논문지:전력기술부문A
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• 제48권10호
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• pp.1327-1334
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• 1999

The stabilization control of ball-beam system is difficult because of its nonlinearity and structural unstability. Futhermore, a series of classical methods such as the PID and the full state feedback controller(FSFC) based on the local linearizations have narrow stabilizable regions. At the same time, the fine tunings of their gain parameters are also troublesome. Therefore, in this paper, three improved design techniques of stabilization controller for a ball-beam system were proposed. These parameter tuning methods in the double PID controller(DPIDC), the FSFC and the a sliding mode controller(SMC) were dependent upon the Real Value Elitist Genetic Algorithm (RVEGA). Finally, by applying the DPIDC, the FSFC and the Real Variable Elitist Genetic Algorithm based Sliding Mode Control(RVEGA SMC) to the stabilizations of a ball-beam system, the performances of the RVEGA SMC technique were showed to be superior to those of two other type controllers.

• 한국생산제조학회지
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• 제8권6호
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• pp.35-42
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• 1999

This paper concentrates on the position control of a pneumatic cylinder under parameter variation. A closed-loop control is proposed to design the different controllers(P, PI, PID, PD controller) in order to choose the best con-troller based on the fast and accurate control of the system. It is shown that the control algorithm, is robust and effective in attaining the fast and accurate position control of system under time-dependent parameter variation. Experimental results showed that PD controller law is effective to obtain the fast response and to increase that sta-blity of the system The method is a useful control algorithm which always automatically adjusts the position con-trol in accordance with the error using carrier wave of triangle type regardless of changes on the operating condi-tion and physical differences between components.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.165-170
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• 2001

This paper presents performance analysis of two-linked robot system using ER (electro rheological) valve actuators. An ER fluid consisting of soluble chemical starches (particles) and silicone oil is made and its field-dependent yield stress is experimentally distilled using electro-viscometer. From this result, the design parameters of ER valve are determined. Based on parameter study, an ER valve system is designed and manufactured. Furthermore, the measured pressure drop is compared with predicted one obtained from the Bingham model. Following the evaluation of field-dependent pressure drop of ER valve, a two-linked robot system with two ER valve actuators is then constructed and its governing equation of motion is derived. From this equation, PID controller is established. Consequently, control performances of the proposed two-linked robot system featuring ER valve are evaluated.