• 설비공학논문집
• /
• 제13권11호
• /
• pp.1072-1078
• /
• 2001

The real time optimal control algorithm of the DDC controller for chilled water and supply air temperature set-point of heating, ventilating, air-conditioning and refrigeration systems has been researched for minimization of the total power which is consumed by the chiller, chilled water pump and air handing unit fan. The study has been done by using TRNSYS program in order to analyze the central cooling system in terms of the environmental variables such as indoor cooling lead and wet-bulb temperature. This optimal control alogorithm saves more energy and is suitable for real time on-line control in comparison with conventional method.

• 한국지진공학회논문집
• /
• 제8권4호
• /
• pp.51-62
• /
• 2004

사장교의 지진응답 제어를 위한 퍼지관리제어기법에 대하여 연구하였다. 제시하는 방법은 복합제어방법의 하나로서, 여러 개의 최적제어기로 이루어진 하부제어기와 퍼지관리자로 구성되는 계층적인 구조를 가진다. 하위제어기들은 사장교의 주요 지진응답들을 저감시키도록 각각 독립적으로 설계되며, 퍼지관리자는 설계된 하위제어기들의 참여율을 조절함으로써 향상된 제진성능을 확보한다. 이는 하위제어기의 정적 제어이득을 퍼지추론과정에 기반하여 실시간으로 변화하는 동적 제어이득으로 변화함으로써 이루어진다. 제안하는 방법으리 적용성을 평가하기 위하여 Dyke 등이 제안한 사장교의 벤치마크 제어문제를 설계 예로 고려하였으며, 사장교 지진응답제어를 위한 제어변수로는 주탑하부의 전단력과 휨모멘트, 주탑상부의 수평변위 및 테크 주탑간 상대변위, 그리고 케이블의 장력을 선정하였다. 벤치마크 사장교에 대하여 제안한 퍼지관리제어기 및 최적제어이론에 기반한 LQG 제어기의 제어성능 비교로부터 제시하는 기법의 효율성을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
• /
• pp.313-318
• /
• 1994

It is well known that the neural network can be used as an universal approximater for functions and functionals. But these theoretical results are just an existence theorem and do not lead to decide the suitable network structure. This doubfulness whether a certain network can approximate a given function or not, brings about serious stability problems when it is used to identify a system. To overcome the stability problem, We suggest successive identification and control scheme with supervisory controller which always assures the identification process within a basin of attraction of one stable equilibrium point regardless of fittness of the network.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1519-1522
• /
• 1996

In this paper, we have developed a tele-robotic system for nozzle dam installation/removal works and tube relating maintenance works inside unclear power plant steam generator. Developed tele-robotic system consists of many hardwares including robot and a control system. Based on the 3 dimensional graphic simulation, a 6 D.O.F. hydraulic actuated robot and a 2 D.O.F. robot install/removal device have been developed. And also we deviced special tools for nozzle dam carry and bolting. For the tele-robot and other devices to be controlled at the nonradioactive area outside reactor containment building, we developed a tele-robot control system consisting of supervisory controller and remote controller.

• 전자공학회논문지SC
• /
• 제41권4호
• /
• pp.1-12
• /
• 2004

본 논문에서는 적응 퍼지 백스테핑 알고리즘을 이용하여 단일축 유연관절 로봇을 제어하는 새로운 알고리즘을 제안한다. 퍼지시스템은 일반근사기로 사용하여 로봇과 제어기의 비선형성과 불확실성을 상쇄하는 역할을 한다. 제안한 알고리즘은 추가적인 교시 제어기를 필요로 하지 않으며 추적오차를 상시유계시키는 특성이 있다. 끝으로 컴퓨터 모의실험을 통하여 제안한 방식의 성능을 확인한다.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
• /
• pp.1374-1377
• /
• 1993

In this paper, a predictive fuzzy control algorithm to supervise the elevator system with plural elevator cars is developed and its performance is evaluated. Elevator group controller must decide which of the cars is suitable for responding the registered hall call and allocate it to the selected car controller. In most cases, the purpose of group control is to minimize waiting time of passengers and occurrence of long wait as much as possible. The proposed algorithm ensures the efficient operations of the group cars and provides the improved level of service, coping with multiple control objects and uncertainty of system state. The feasibility of the proposed control algorithm is evaluated by graphic simulator on computer.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.628-632
• /
• 2003

An intelligent miniature humanoid robot system is designed and implemented as a platform for researching walking algorithm. The robot system consists of a mechanical robot body, a control system, a sensor system, and a human interface system. The robot has 6 dofs per leg, 3 dofs per arm, and 2 dofs for a neck, so it has total of 20 dofs to have dexterous motion capability. For the control system, a supervisory controller runs on a remote host computer to plan high level robot actions based on the vision sensor data, a main controller implemented with a DSP chip generates walking trajectories for the robot to perform the commanded action, and an auxiliary controller implemented with an FPGA chip controls 20 actuators. The robot has three types of sensors. A two-axis acceleration sensor and eight force sensing resistors for acquiring information on walking status of the robot, and a color CCD camera for acquiring information on the surroundings. As an example of an intelligent robot action, some experiments on playing soccer are performed.

• 전기전자학회논문지
• /
• 제3권1호
• /
• pp.57-68
• /
• 1999

DCS는 분산된 컴퓨터 네크워크를 이용한 통합된 EIC의 다양한 응용기술을 적용할 수 있는 원격 감시 제어가 요구되고 있다. 현재까지는 DCS는 원격 사이트의 플랜트에 대해 실시간성 보장은 기대에 미치지 못한다. 본 논문에서는 효율적인 TM/TC 시스템을 위한 각 제어기를 기존의 PRS 하드웨어와 GWS, RPS, SRS로 광역화에 맞도록 설계하였으며, 또한 각 구현된 제어기의 실시간을 만족하는 통신처리시간, 시스템 부하율을 분석하여 타당성을 검토하였다.

• Journal of Power Electronics
• /
• 제14권4호
• /
• pp.733-741
• /
• 2014

The integration of photovoltaic (PV) energy sources into DC grid has gained considerable attention because of its enhanced conversion efficiency with reduced number of power conversion stages. During the integration process, a local control unit is normally included with every power conversion stage of the PV source to accomplish the process of maximum power point tracking. A centralized monitoring and supervisory control unit is required for monitoring, power management, and protection of the entire system. Therefore, we propose a field-programmable gate array (FPGA) based centralized control unit that integrates all local controllers with the centralized monitoring unit. The main focus of this study is on the process of integrating many local control units into a single central unit. In this paper, we present design and optimization procedures for the hardware implementation of FPGA architecture. Furthermore, we propose a transient analysis and control design methodology with consideration of the nonlinear characteristics of the PV source. Hardware experiment results verify the efficiency of the central control unit and controller design.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 추계학술대회논문집A
• /
• pp.723-729
• /
• 2001

Electro-hydraulic shift control of a vehicle automatic transmission has been predominantly carried out via an open-loop control based on numerous time-consuming calibrations. Despite remarkable success in practice, the variations of system characteristics inevitably deteriorate the performance of the tuned open-loop controller. As a result, the controller parameters need to be continuously updated in order to maintain satisfactory shift quality. This paper presents a self-learning algorithm for automatic transmission shift control in a construction vehicle during inertia phase. First, an observer reconstructs the turbine acceleration signal (impossible to measure in a construction vehicle) from the readily accessible turbine speed measurement. Then, a control algorithm based on a quadratic function of the turbine acceleration is shown to guarantee the asymptotic convergence (within a specified target bound) of the error between the actual and the desired turbine accelerations. A Lyapunov argument plays a crucial role in deriving adaptive laws for control parameters. The simulation and hardware-in-the-loop simulation (HILS) studies show that the proposed algorithm actually delivers the promise of satisfactory performance despite the system characteristics variations and uncertainties.