• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.199-207
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• 2002

In this paper, a self-tuning gain-scheduled skyhook control for semi-active suspension systems is investigated. The dynamic characteristics of a continuously variable damper including electro-hydraulic pressure control valves is analyzed. A 2-d.o.f. time-varying quarter-car model that permits variations in sprung mass and suspension spring coefficient is considered. The self-tuning skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters. The skyhook gains are gain-scheduled in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype is discussed. Experimental results using a 1/4-ear simulator are discussed. Also, a suspension ECU prototype targeting real implementation is provided.

• 한국광학회지
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• 제16권6호
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• pp.527-534
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• 2005

하나의 DFB 영역, 위상 조정 영역과 이득 영역으로 구성된 다중 전극 DFB 레이저의 pulsation 동작 특성을 살펴본다. Anti-phase (AP) complex-coupled (CC) DFB 구조를 사용한 경우가 in-phase CC DFB 구조나 index-coupled DFB 구조를 사용한 경우에 비하여 안정된 pulsation 동작이 발생하는 이득 영역과 위상 조정 영역의 전류 범위가 큼을 알 수 있다. AP CC DFB 구조를 사용한 경우 결합 세기가 커질수록, 이득 결합 계수가 커질수록 안정된 pulsation 동작이 발생하는 이득 영역의 전류 범위가 증가하고 pulsation 주파수의 튜닝 영역이 커짐을 볼 수 있다. 또한 위상 조정 영역의 위상 변화에 의한 pulsation주파수의 튜닝 영역도 커짐을 볼 수 있다. 고정된 결합 세기에서 DFB 영역의 길이가 증가할수록 pulsation 동작이 발생하는 위상 조정 영역과 이득 영역의 전류 범위가 증가하여 pulsation 주파수 튜닝 영역이 넓어짐을 볼 수 있다.

• 소음진동
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• 제8권3호
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• pp.441-449
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• 1998

A self-tuning control scheme, incorporated with the simplified 1st-order ARMAX(Auto-Regressive Moving Average eXogenous) model, for single rod hydraulic cylinder which has varying dynamic characteristics is presented here. An adaptive controller is developed for the system that uses feedforward and optimal feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the self-tuning controller with a fixed gain proportional controller clearly shows its superior ability in handling load changes in quiescent states.

• 한국정밀공학회지
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• 제14권2호
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• pp.160-168
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• 1997

A $H_{\infty}$self-tuning control scheme for the tip position of a flexible link robot handling unknown loads is presented here. The scheme essentially comprises a recursive least-squares identification algorithm and $H_{\infty}$self-tunning controller. The $H_{\infty}$control low is designed to be robust to uncertain parameters and the self-tunning action provides adaption to unknown parameters. Through numerical study, the performance comparison of the $H_{\infty}$self-tuning controller with a constant gain $H_{\infty}$controller as well as a LQG self-tuning controller clearly shows its superior ability in handling load changes in quiescent states.nt states.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.178.4-178
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• 2001

In this paper a self-tuning gain-scheduled skyhook control for semi-active suspension systems is investigated. The dynamic characteristics of a continuously variable damper including electro-hydraulic pressure control valves is analyzed. A 2-d.o.f. time-varying quarter-car model that permits variations in sprung mass and suspension spring coefficient is considered. The self-tuning skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters. The skyhook gains are gain-scheduled in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype ...

• 대한기계학회논문집
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• 제17권9호
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• pp.2153-2161
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• 1993

Self-tuning control algorithms for an input-amplitude constrained system are developed and implemented. Magnitude of control input for small motors is generally restricted to narrow bound due to actuator saturation. The gain-adjusted control algorithm and the bounded-gain control algorithm proposed in this study yield smoother control input variations within the magnitude constraints comparing with the existing Clarke's suboptimal control algorithm. In the gain-adjusted control algorithm, the feedforward gain is adjusted using maximum gain, while in the bounded-gain control algorithm, the feedforward gain is bounded using weighting factor. For the DC servo motor control, the system performances of the proposed algorithms are compared with those of the existing algorithm by computer simulation and experiment. It is shown that the input variations of the proposed algorithms are smoother as compared with the existing algorithm.

• 전력전자학회논문지
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• 제9권6호
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• pp.602-611
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• 2004

본 논문에서는 속도 오차의 최소화와 안정된 응답 특성을 가진 선형 영구자석형 동기 전동기를 이용한 시스템을 구성하기 위해서 속도 오차와 속도 오차의 미분항을 입력 변수로 하고 PI 룩업-테이블(look up table)을 이용한 퍼지(fuzzy) 기반 자기동조(self-tuning) PI 속도 제어기를 제안 하였다. 부하가 변동되는 제어 환경이나 시스템에 비선형성 외란이 가해지는 경우, 고정된 최초의 이득 설정 또는 NC 공작기에서 사용되는 속도에 따른 가변이득 조절 방식만으로는 원하는 제어특성을 기대하기가 어렵다. 본 연구의 타당성을 검증하기 위해서 기존의 고정이득 방식 및 속도 변동량에 따른 가변이득 방식을 제안한 방식과 시뮬레이션 및 4상한 운전 실험을 통해 비교함으로써 제안된 방식이 기존의 방식들보다 안정되고 빠른 속도 응답특성을 가짐을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.229-229
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• 2000

Conventional gain-tuning methods such as Ziegler-Nickels methods, have many disadvantages that optimal control ler gain should be tuned manually. In this paper, modified PID controllers which include self-tuning characteristics are proposed. Proposed controllers automatically tune the PID gains in on-1ine using neural networks. A new learning scheme was proposed for improving learning speed in neural networks and satisfying the real time condition. In this paper, using a nonlinear mapping capability of neural networks, we derive a tuning method of PID controller based on a Back propagation(BP)method of multilayered neural networks. Simulated and experimental results show that the proposed method can give the appropriate parameters of PID controller when it is implemented to DC Motor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.260-262
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• 2006

This paper presents Hybrid-PI controller of induction motor drive using fuzzy control. In general, PI controller in computer numerically controlled machine process fixed gain. They may perform well under some operating conditions, but not all. To increase the robustness, fixed gain PI controller, Hybrid-PI controller proposes a new method based self tuning PI controller. Hybrid-PI controller is developed to minimize overshoot and settling time following sudden parameter changes such as speed, load torque, inertia, rotor resistance and self inductance. The results on a speed controller of induction motor are presented to show the effectiveness of the proposed gain tuner. And this controller is better than the fixed gains one in terms of robustness, even under great variations of operating conditions and load disturbance.

• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.192-197
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• 2007

This paper presents Hybrid PI controller of IPMSM drive using fuzzy adaptive mechanism(FAM) control. In general, PI controller in computer numerically controlled machine process fixed gain. They may perform well under some operating conditions, but not all. To increase the robustness, fixed gain PI controller, Hybrid PI controller proposes a new method based self tuning PI controller. Hybrid PI controller is developed to minimize overshoot and settling time following sudden parameter changes such as speed, load torque, inertia, rotor resistance and self inductance. The results on a speed controller of IPMSM are presented to show the effectiveness of the proposed gain tuner. And this controller is better than the fixed gains one in terms of robustness, even under great variations of operating conditions and load disturbance.