• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.241-244
• /
• 1996

This paper discusses the general properties and the design procedures of Internal Model Control(IMC) scheme for nonlinear plants. Also we propose new nonlinear IMC(NIMC) design method using linear IMC. Although all IMC controllers can be thought simple 'inverse controller', its nonlinear realization is not easy. Propose NIMC is composed multiple linear models, IMC controllers, and switching scheme. The advantages of this method are we can use simple linear IMC design method and need not nonlinear modelings.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
• /
• pp.1671-1676
• /
• 1991

Direct digital design of computed torque controllers for a robot manipulator is discussed in this paper. A simple discrete-time model of the robot manipulator obtained by Euler's method is used for the design. Taking account of computation delay in the digital processor, we propose predictor-based designs of the PD and PID type controllers. The PID type controller is designed based on a modified version of the discrete-time integral controller proposed by Mita. For both controllers, the same formulas can be used to determine the feedback gains. A simulation example is presented to compare the robustness of the proposed controllers against physical parameter variations.

• Journal of Power Electronics
• /
• 제4권1호
• /
• pp.28-38
• /
• 2004

In this paper, the position control of a detuned indirect field oriented control (IFOC) induction motor drive is studied. A proposed Simple-Neuro-Controllers (SNCs) are designed and analyzed to achieve high-dynamic performance both in the position command tracking and load regulation characteristics for robotic applications. The proposed SNCs are trained on-line based on the back propagation algorithm with a modified error function. Four SNCs are developed for position, speed and ｄ-ｑ axes stator currents respectively. Also, a synchronous proportional plus integral-derivative (PI-D) two-degree-of-freedom (2DOF) position controller and PI-D speed controller are designed for an ideal IFOC induction motor drive with the desired dynamic response. The performance of the proposed SNCs and synchronous PI-D 2DOF position controllers for detuned field oriented induction motor servo drive is investigated. Simulation results show that the proposed SNCs controllers provide high-performance dynamic characteristics which are robust with regard to motor parameter variations and external load disturbance. Furthermore, comparing the SNC position controller with the synchronous PI-D 2DOF position controller demonstrates the superiority of the proposed SNCs controllers due to attain a robust control performance for IFOC induction motor servo drive system.

• 한국추진공학회:학술대회논문집
• /
• 한국추진공학회 2011년도 제37회 추계학술대회논문집
• /
• pp.942-948
• /
• 2011

고체추진기관은 구조가 비교적 간단하고 장기적 저장성이 우수한 반면에 일반적으로 추력의 조절등에 한계성을 가지고 있다. 본 논문에서는 구현의 용이함과 에너지 효율성이 좋은 on-off 제어기법을 이용한 가변추력 고체추진 기관의 압력 제어를 위한 제어기를 소개한다. 연소기 내 압력제어를위해 질량보존만을 고려한 추진기관의 연소기 내 압력변화 모델에 대하여 고전적인 비례-적분 제어기와 같은 연속적 제어 기법과 PWM, PWPFM과 같은 on-off 제어기를 설계하고 시뮬레이션을 통해 결과를 비교한다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
• /
• pp.362-366
• /
• 1986

Using simple linear prediction algorithm a design procedure of robust PI and PID controllers for SISO system, usually called 'PID predictor controllers, is developed. The design procedure is able to properly adjust gain margin and phase margin and control coefficients are selected in frequency domain. The performance of the PID predictor controller is superior to that of the normal PID controller in terms of robustness in design and disturbance rejection.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제3권1호
• /
• pp.93-99
• /
• 2003

One of the methods to simplify the design process for a fuzzy logic controller (FLC) is to reduce the number of variables representing the rule antecedent. This in turn decreases the number of control rules, membership functions, and scaling factors. For this purpose, we designed a single-input FLC that uses a sole fuzzy input variable. However, it is still deficient in the capability of adapting some varying operating conditions although it provides a simple method for the design of FLC's. We here design two simple-structured adaptive fuzzy logic controllers (SAFLC's) using the concept of the single-input FLC. Linguistic fuzzy control rules are directly incorporated into the controller by a fuzzy basis function. Thus some parameters of the membership functions characterizing the linguistic terms of the fuzzy control rules can be adjusted by an adaptive law. In our controllers, center values of fuzzy sets are directly adjusted by an adaptive law. Two SAFLC's are designed. One of them uses a Hurwitz error dynamics and the other a switching function of the sliding mode control (SMC). We also prove that 1） their closed-loop systems are globally stable in the sense that all signals involved are bounded and 2） their tracking errors converge to zero asymptotically. We perform computer simulations using a nonlinear plant.

• Smart Structures and Systems
• /
• 제15권3호
• /
• pp.831-846
• /
• 2015

Magneto-Rheological (MR) dampers are being used increasingly because of their adaptability to control algorithms and reliability of passive systems. In this paper, an extensive investigation on performance of MR dampers in semi-active and passive modes has been carried out. It is observed that the overall energy dissipation by MR dampers in passive-on modes is higher than that in semi-active modes for most of the competitive semi-active controllers. Based on the energy dissipation pattern, a novel semi-active controller, termed as "Simple Passive Semi-Active Controller", has been proposed for MR dampers. This controller can be emulated by a simple passive hardware proposed in this paper. The proposed concept of controller "hardware emulation" is innovative and can also be implemented for other semi-active devices for control algorithms of certain form. The effectiveness and reliability of the proposed controller has been investigated extensively through numerical simulations. It has been demonstrated that the proposed controller is competitive to or more effective than other widely used / investigated semi-active controllers.

• 한국융합학회논문지
• /
• 제4권2호
• /
• pp.43-50
• /
• 2013

Sliding mode control(SMC) are carried out in this literature. And to make the controllers perform better, fuzzy logic was chosen,it makes PID controller auto-tuning parameters and reduced the chattering problem of sliding mode control. Since SMC take error and derivative of error as inputs, after comparison some results are obtained.PID controller response faster yet sliding mode control is much steadier. However certain problems cannot be ignored that the chattering phenomenal cannot be reduced entirely and this motion may hurt the machine; this project only considered a simple system, there is no guarantee PID can work as well as in this case for a much more complex system. MATLAB simulink was the main approach to obtain the performance of the two controllers: to observe the control output of the two controllers, electric circuit and special controllers are designed and tested in MATLAB.

• Membrane and Water Treatment
• /
• 제9권2호
• /
• pp.129-136
• /
• 2018

In this contribution, the control of multivariable reverse osmosis (RO) desalination plant using proportional-integral-derivative (PID) controllers is presented. First, feed-forward compensators are designed using simplified decoupling method and then the PID controllers are tuned for flux (flow-rate) and conductivity (salinity). The tuning of PID controllers is accomplished by minimization of the integral of squared error (ISE). The ISEs are minimized using a recently proposed algorithm named as teacher-learner-based-optimization (TLBO). TLBO algorithm is used due to being simple and being free from algorithm-specific parameters. A comparative analysis is carried out to prove the supremacy of TLBO algorithm over other state-of-art algorithms like particle swarm optimization (PSO), artificial bee colony (ABC) and differential evolution (DE). The simulation results and comparisons show that the purposed method performs better in terms of performance and can successfully be applied for tuning of PID controllers for RO desalination plants.

• 제어로봇시스템학회논문지
• /
• 제7권6호
• /
• pp.532-539
• /
• 2001

In robot teleoperation, much research has been carried out to control the slave robot from remote site. One of the essential devices for robot teleoperation is the masterarm, which is a path command generating device worn on human arm. In this paper, a new masterarm based on human kinematics is proposed. Its controller is based on the distributed controller architecture composed of two controller parts: a host controller and a set of satellite controllers. Each satellite controller measures the corresponding joint angle, while the host controller performs forward and inverse kinematics calculation. This distributed controller architecture can make the data updating faster, which allows to implement real-time implementation. The host controller and the satellited controllers are networked via three-wire daisy-chained SPI(Serial Peripheral Interface) protocol, so this architecture makes the electrical wiring very simple, and enhances maintenance. Analytical method for finding three additional unknown joint angles is derived using only three measured angles for each shoulder and wrist, which makes th hardware implementation very simple by minimizing the required number of satellite controllers. Finally, the simulation and experiment results are given to demonstrate the usefulness and performance of the proposed masterarm.