• Journal of Advanced Navigation Technology
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• v.15 no.5
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• pp.833-838
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• 2011

X-ray device used in the diagnosis has made possible to have more effective and accurate diagnosis, powered by the development of various devices. Based on this, X-ray device has become the most basic and essential diagnostic equipment in clinical medicine. At present, in the image acquisition field using X-ray, the use of Digital radiography which is useful in the acquisition time reduction and transfer of images and is possible to have the dose reduction has expanded. With the structure using one detector, this DR device has disadvantages in that it needs structural changes unlike existing X-ray and the detector should be moved to the desired position depending on the shooting location. Therefore, in this study, using BLDC(Brushless direct current) motor and PID(Proportional integral differential) control method, the automatic control system of 3-axis which is upward and downward, left and right and rotation of detector where having the most movement in DR was designed and produced and its performance was evaluated.

• Smart Structures and Systems
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• v.22 no.1
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• pp.81-94
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• 2018

Automatic Generation Control (AGC) has functionally controlled the interchange power flow in order to suppress the dynamic oscillations of frequency and tie-line power deviations as a perturbation occurs in the interconnected multi-area power system. Furthermore, Flexible AC Transmission Systems (FACTS) can effectively assist AGC to more enhance the dynamic stability of power system. So, Static Synchronous Series Compensator (SSSC), one of the well-known FACTS devices, is here applied to accurately control and regulate the load frequency of multi-area multi-source interconnected power system. The research and efforts made in this regard have caused to introduce the Fractional Order Proportional Integral Derivative (FOPID) based SSSC, to alleviate both the most significant issues in multi-area interconnected power systems i.e., frequency and tie-line power deviations. Due to multi-objective nature of aforementioned problem, suppression of the frequency and tie-line power deviations is formularized in the form of a multi-object problem. Considering the high performance of Multi Objective Bees Algorithm (MOBA) in solution of the non-linear objectives, it has been utilized to appropriately unravel the optimization problem. To verify and validate the dynamic performance of self-defined FOPID-SSSC, it has been thoroughly evaluated in three different multi-area interconnected power systems. Meanwhile, the dynamic performance of FOPID-SSSC has been accurately compared with a conventional controller based SSSC while the power systems are affected by different Step Load Perturbations (SLPs). Eventually, the simulation results of all three power systems have transparently demonstrated the dynamic performance of FOPID-SSSC to significantly suppress the frequency and tie-line power deviations as compared to conventional controller based SSSC.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.5
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• pp.1-6
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• 2007

This paper presents a new experimental Servo-Parameter tuning technique for a 6-axes articulated robot manipulator, especially considering robot's dynamics. First of all, investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer(DSA) is performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function can be obtained. In turn, the integral gain of a servo controller can be found out by using the integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller can be obtained by using the Bode plot of the closed loop transfer function. Using the experimental gain tuning technique proposed in this paper, the testing linear motion of DR6-II robot has been shown to be more accurate rather than the motion with a conventional(empirical) gain tuning technique in Doosan Mecatec Co., Ltd., by improving the dynamic response of the robot as well as synchronizing each joint velocity according to the positional command of an end-effector.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.29 no.4
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• pp.250-254
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• 2016

Currently, power conversion system which converts AC to DC Power is applied in domestic urban railway. The diode rectifier is used in most of them. However the diode rectifier can not control the output voltage and can not regenerate power as well. On the other hand, PWM (pulse width modulation) converter using IGBT (isolated gate bipolar transistor) can control output voltage, allowing it to reduce the output voltage drop. Moreover the Bi-directional conduction regenerates power which does not require additional device for power regeneration control. This paper compared the simulation results for the DC power supply system on both the diode rectifier and the PWM converter. Under the same load condition, simulation circuit for each power supply system was constructed with the PSIM (performance simulation and modeling tool) software. The load condition was set according to the resistance value of the currently operating impedance of light rail line, and the line impedance was set according to the distance of each substations. The train was set using a passive resistor. PI (proportional integral) controller was applied to regulate the output voltage. PSIM simulation was conducted to verify that the PWM Converter was more efficient than the diode rectifier in DC Traction power supply system.

• Journal of the Korean Solar Energy Society
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• v.33 no.3
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• pp.42-50
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• 2013

Solar thermal reactor was studied for hydrogen production with a two step thermochemical cycle including T-R(Thermal Reduction) step and W-D(Water Decomposition) step. NiFe2O4 and Fe3O4 supported by monoclinic ZrO2 were used as a catalyst device and Ni powder was used for decreasing the T-R step reaction temperature. Maintaining a temperature level of about $1100^{\circ}C$ and $1400^{\circ}C$, for 2-step thermochemical reaction, is important for obtaining maximum performance of hydrogen production. The controller was designed for adjusting high temperature solar thermal energy heating the foam-device coated with nickel- ferrite powder. A Pill temperature control system was designed based on 2-step thermochemical reaction experiment data(measured concentrated solar radiation and the temperature of foam device during experiment). The cycle repeated 5 times, ferrite conversion rate are 4.49~29.97% and hydrogen production rate is 0.19~1.54mmol/g-ferrite. A temperature controller was designed for increasing the number of reaction cycles related with the amount of produced hydrogen.

• Earthquakes and Structures
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• v.20 no.3
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• pp.353-364
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• 2021

Natural hazards like earthquakes, high winds, and tsunami are a threat all the time for multi-story structures. The environmental forces cannot be clogged but the structures can be prevented from these natural hazards by using protective systems. The structural control can be achieved by using protective systems like the passive, active, semi-active, and hybrid protective systems; but the semi-active protective system has gained importance because of its adaptability to the active systems and reliability of the passive systems. Therefore, a semi-active protective system for the earthquake forces has been adopted in this work. Magneto-Rheological (MR) damper is used in the structure as a semi-active protective system; which is connected to the current driver and proposed controller. The Proportional Integral Derivative (PID) controller and reliable PID controller are two proposed controllers, which will actuate the MR damper and the desired force is generated to mitigate the vibration of the structural response subjected to the earthquake. PID controller and reliable PID controller are designed and tuned using Ziegler-Nichols tuning technique along with the MR damper simulated in Simulink toolbox and MATLAB to obtain the reduced vibration in a three-story benchmark structure. The earthquake is considered to be uncertain; where the proposed control algorithm works well during the presence of earthquake; this paper considers robustness to provide satisfactory resilience against this uncertainty. In this work, two different earthquakes are considered like El-Centro and Northridge earthquakes for simulation with different controllers. In this paper performances of the structure with and without two controllers are compared and results are discussed.

• Korean Journal of Agricultural Science
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• v.50 no.4
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• pp.773-784
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• 2023

In this study, we developed a dynamic model and steering controller model for an autonomous tractor and evaluated their performance. The traction force was measured using a 6-component load cell, and the rotational speed of the wheels was monitored using proximity sensors installed on the axles. Torque sensors were employed to measure the axle torque. The PI (proportional integral) controller's coefficients were determined using the trial-error method. The coefficient of the P varied in the range of 0.1 - 0.5 and the I coefficient was determined in 3 increments of 0.01, 0.05, and 0.1. To validate the simulation model, we conducted RMS (root mean square) comparisons between the measured data of axle torque and the simulation results. The performance of the steering controller model was evaluated by analyzing the damping ratio calculated with the first and second overshoots. The average front and rear axle torque ranged from 3.29 - 3.44 and 6.98 - 7.41 kNm, respectively. The average rotational speed of the wheel ranged from 29.21 - 30.55 rpm at the front, and from 21.46 - 21.63 rpm at the rear. The steering controller model exhibited the most stable control performance when the coefficients of P and I were set at 0.5 and 0.01, respectively. The RMS analysis of the axle torque results indicated that the left and right wheel errors were approximately 1.52% and 2.61% (at front) and 7.45% and 7.28% (at rear), respectively.

• Korean Chemical Engineering Research
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• v.49 no.5
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• pp.565-570
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• 2011

In this paper, the analytical tuning rules of the proportional-integral-derivative (PID) controller have been derived for a broad class of stable, integrating, and unstable processes without time delay. On the basis of the renowned internal model control (IMC) design principles and the two-degree-of-freedom (2DOF) control structure, the proposed method can be effectively used for obtaining the enhanced performances of both the disturbance rejection as well as the set-point tracking problems, since the design scheme is simple, straightforward, and can be easily implemented in the process industry. Several processes without time delay are employed to demonstrate the improved closed-loop performance of the proposed controller design in compared with the other well-known design methods in terms of the same degree of robustness.

• Journal of Advanced Navigation Technology
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• v.20 no.3
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• pp.226-231
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• 2016

Researching and developing mobile robot are quite important. Autonomous driving of mobile robot is important in various working environment. For its autonomous driving, mobile robot detects obstacles and avoids them. Purpose of this thesis is to analyze kinematics model of the mobile robot and show the efficiency of type-2 fuzzy self-tuning PID controller used for controling steering angle. Type-2 fuzzy is more flexible in verbal expression than type-1 fuzzy because it has multiple values unlike previous one. To compare these two controllers, this paper conduct a simulation by using MATLAB Simulink. The result shows the capability of type-2 fuzzy self-tuning PID is effective.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.1
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• pp.129-137
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• 2016

In the present study we verified performance of feed-forward control algorithm using short term prediction of ship motion information by taking advantage of developed numerical simulation model of FPSO motion. Up until now, various studies have been conducted about thrust control and allocation for dynamic positioning systems maintaining positions of ships or marine structures in diverse sea environmental conditions. In the existing studies, however, the dynamic positioning systems consist of only feedback control gains using a motion of vessel derived from environmental loads such as current, wind and wave. This study addresses dynamic positioning systems which have feedforward control gain derived from forecasted value of a motion of vessel occurred by current, wind and wave force. In this study, the future motion of vessel is forecasted via Brown's Exponential Smoothing after calculating the vessel motion via a selected mathematical model, and the control force for maintaining the position and heading angle of a vessel is decided by the feedback controller and the feedforward controller using PID theory and forecasted vessel motion respectively. For the allocation of thrusts, the Lagrange Multiplier Method is exploited. By constructing a simulation code for a dynamic positioning system of FPSO, the performance of feedforward control system which has feedback controller and feedforward controller was assessed. According to the result of this study, in case of using feedforward control system, it shows smaller maximum thrust power than using conventional feedback control system.