• 제어로봇시스템학회논문지
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• 제22권2호
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• pp.126-132
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• 2016

The root-locus method is often employed when a controller is designed to find controller gain. It is usually used to determine one parameter gain while most controllers for industrial applications have more than one controller gain. For example PID controller has three controller gains, i.e. P, I, and D gains. Thus the conventional root-locus technique cannot complete the design of a controller with more than one controller gain. One way to overcome this drawback has been to apply the root-locus technique for one parameter while other parameters are assumed to be proportional to the parameter or to be constant. However this approach could lead to limited performance of the controller and if we try to adjust the proportional ratio or constants then it could be a long and tedious process of trial and error. Thus it is required to find an effective method for the root-locus technique to design controllers with more than one parameter. To this end this paper proposes an extended root-locus method for controllers with two parameters. In this paper Matlab is used as a computation tool to show the effectiveness of our method by solving examples numerically. As a result we obtained an extended root-locus illustrated in two-dimensional space for a control system with two parameters. The paper then presents how to find two controller gains based on this result of the extended root-locus. The main idea is that we can find the parameters by approaching the desired poles. It is expected that the proposed idea will help control engineers to easily design control systems using the root-locus technique, resulting in more accurate and faster control systems. Note that the extended root-locus idea can be applied to controller design problems with multiple parameters.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1371-1374
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• 2004

The control system design of 2-DOF for SISO process by root locus technique is not complicated and efficiently. It can design the control system to have the transient and steady state responses, and do not adjust the gain of process controller later. However, due to control system design for MIMO process, by root locus technique, there is not exact method. This paper is presents the control system design method for Quadruple-Tank Process, by using root locus technique for the structure of 2-DOF control system. The design procedures are first decentralized then using the relative gain array, and finally 2-DOF controller design is applied.

• 한국정밀공학회지
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• 제25권10호
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• pp.67-76
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• 2008

In this research, a simple technique for designing PID controller, which guarantees robust stability for two-mass systems with parameter uncertainties as well as rigid-body behavior and zero steady-state error,is described. As well, such a PID controller is designed to mate two important frequencies, at which the given system is excited, very close so that an appropriate reference profile generated by using command shaping techniques can cover those two frequencies. Root-locus analysis. which shows traces of closed-loop poles for the given system, is used to design this PID controller. Finally, feedforward controller is added to improve tracking performance of the closed-loop system. Simulation for a system with a flexible mode and parameter uncertainties is executed to prove the feasibility of this technique.

• 전자공학회논문지
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• 제50권7호
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• pp.281-285
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• 2013

벅 컨버터 LC 필터의 라플라스 변환 회로에서 전압 분배 법칙을 사용하여 전달 함수를 구하였다. 참고문헌에서 제안된 Type2 제어기의 근 궤적과 시뮬레이션 파형으로부터 제어기 설계가 잘못된 것을 나타내었다. PI 제어기를 근 궤적 기법으로 설계하였다. PI 제어기를 연산 증폭기를 사용하여 구현하였다. 제대로 동작하는 Type2 제어기를 제안하고 시뮬레이션을 통해 결과를 확인하였다.

• 드라이브 ㆍ 컨트롤
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• 제13권3호
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• pp.15-23
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• 2016

The direct-drive servo valve(DDV) is a kind of one-stage valve because the main spool valve is directly driven by the dc motor. Since the DDV structure is simple, it is less expensive, more reliable, and offers a reduced internal leakage and a reduced sensitivity to fluid contamination. The control system of the DDV is highly nonlinear due to a current limiter, a voltage limiter, and the flow-force effect on the spool motion. The shape of the step response of the DDV-control system varies considerably according to the magnitudes of the step input and the load pressure. The system-design requirements mean that the overshoots should be less than 20%, and the errors at 0.02s should be less than 2%, regardless of the reference-step input sizes of 1V and 5V and the load-pressure magnitudes of 0MPa and 20.7MPa. To satisfy the system-design requirements, the PID-controller parameters of $K_c$, $T_i$ and $T_d$, and the derivative-feedback gain of $K_{der}$ are designed using the root locus and manual tuning.

• 제어로봇시스템학회논문지
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• 제5권4호
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• pp.379-384
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• 1999

In this paper, we present a new time-varying sliding surface to achieve fast and robust tracking of higher-order uncertain systems. The surface passes through an initial error, and afterwards, it moves towards a predetermined target surface by means of a variable named by sliding surface gain and its intercept. Specifically, the sliding surface gain is determined so that its initial value can minimize a shifting distance of the surface and that the system roots in sliding mode can follow certain stable trajectories. The designed sliding mode control forces the system errors to stay always on the proposed surface from the beginning. By this means, the system remains insensitive to system uncertainties and disturbances for the whole time. To illustrate the effectiveness of the proposed method, the comparative study with conventional time-invariant sliding mode control is performed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.174-179
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• 2004

The paper deals with gravitational effect on dynamic stability of a cantilevered pipe conveying fluid. The eigenvalue branches and modes associated with flutter of cantilevered pipes conveying fluid are fully investigated. Governing equations of motion are derived by extended Hamilton's principle, and the solutions are sought by Galerkin's method. Root locus diagrams are plotted for different values of mass ratio of the pipe, and the order of branch in root locus diagrams is defined. The flutter modes of the pipe at the critical flow velocities are drawn at every one of the twelfth period. The transference of flutter-type instability from one eigenvalue branches to another is investigated thoroughly.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1428-1431
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• 1996

This paper proposes an anti-swing control law for a 2 degrees of freedom overhead crane. The dynamic model of a 2 degrees of freedom crane is highly nonlinear and coupled. The model is linearized and decoupled for each degree of freedom of the crane for small motions of the load about the vertical. Then a decoupled anti-swing control law is designed for each degree of freedom of the crane based on the linearized model. The control law consists of a position control loop and an swing angle control loop. The position loop,. is designed based on the loop shaping method and the swing angle loop is designed via the root locus method. Finally, the proposed anti-swing control law is implemented and evaluated on a 2 degrees of freedom prototype crane.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.513-518
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• 2001

As the machining depth increases, the drilling torque increases and fluctuates and the risk of drill failure also increases. Hence, drilling torque control is very important to prevent the drill from failure. In this study, a PID controller was designed to control the drilling torque in a machining center. The plant including the feed drive system, cutting process, and spindle system was modeled for controller design. The Ziegler-Nichols rule was used to determine the controller gain and control action times. The root locus plot was used to tune the controller gain for a certain cutting condition. Also, suggested was a simple method to obtain the tuned controller gain for an arbitrary cutting condition not using the Ziegler-Nichols rule and root locus plot. The cutting torque control, performance of the designed controller and the effect of gain tuning on the control performance were examined.

• 한국정밀공학회지
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• 제23권4호
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• pp.67-74
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• 2006

The paper presents gravitational effect on eigenvalue branches and flutter modes of a vertical cantilevered pipe conveying fluid. The eigenvalue branches and modes associated with flutter of cantilevered pipes conveying fluid are fully investigated. Governing equations of motion are derived by extended Hamilton's principle, and the related numerical solutions are sought by Galerkin's method. Root locus diagrams are plotted for different values of mass ratios of the pipe, and the order of branch in root locus diagrams is defined. The flutter modes of the pipe at the critical flow velocities are drawn at every one of the twelfth period. The transference of flutter-type instability from one eigenvalue branches to another is investigated thoroughly.