• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2004년도 춘계종합학술대회
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• pp.506-510
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• 2004

토크 전달시스템은 다수의 기어와 커플링이 유연하게 구성되어 있으므로 모터의 속도가 갑자기 변할 때 비틀림 진동이 발생한다. 모터의 정확한 응답 특성을 얻기 위해서는 반드시 이 진동은 억제되어야 한다. 따라서 진동억제는 모터제어에 있어서 매우 중요하다. 특히 2관성 시스템의 진동억제를 위해 다양한 제어방법들이 소개되었다. 토크의 비틀림 현상으로 인해 발생하는 진동을 억제하기 위해 토크의 비틀림 성분을 궤환시키고 일반적인 필터로 구성된 외란 관측기 필터를 사용하는 방법이 소개되었다. 또한 이를 계수도법(CDM)을 이용 적절한 P 제어기와 필터의 계수값을 설계하여 진동을 억제하는 방법이다. 그러나 계수도법을 이용하여 설계된 제어기 파라미터는 외란 인가시 적응성이 떨어짐을 알 수 있다. 반면 PID 제어기는 설계가 간단하나 초기에 과도한 오버슈트를 및 진동 문제를 유발한다. 이러한 문제점들을 해결하기 위하여 최근에는 2자유도 파라미터 a로 비례이득을 가변함으로써 외란에는 영향을 받지 않고 목표치 추종 성능을 개선할 수 있는 단순하고 실용적인 2자유도 PID 제어기가 소개되었다. 그러나 이 방법 역시 원하는 P값을 얻기 위해 u를 가변 하여야 하는 단점을 가지고 있다. 따라서 본 논문에서는 이러한 단점들을 극복하기 위해 퍼지 알고리즘을 사용 파라미터 $\alpha$를 자동 조정하는 제어기를 설계하였다. 사용된 제어기의 성능을 입증하기 위하여 기존의 제어방법과 시뮬레이션을 통해 비교, 평가한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.620-622
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• 2004

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has a slip state. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weigh. Secondly, reposed fuzzy logic applied by the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takaki-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm controls recovered driving torque for the restrain the re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena through that compare fuzzy with PI control for the controller performance in the re-adhesion control strategy. These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

• 한국항공우주학회지
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• 제34권12호
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• pp.25-34
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• 2006

본 논문에서는 풍력 발전시스템의 피치 제어 알고리즘 설계 기법을 검토하고 비선형 시뮬레이션을 수행한 결과를 제시한다. 풍력 발전시스템을 다몸체 시스템으로 간주하고 로터 블레이드에 작용하는 공력 및 토크 계산을 위해 블레이드 요소 및 모멘텀 이론을 근거로 공력 모델링을 수행하였다. 제어기 설계를 위해, 풍력 발전시스템은 서로 상대적으로 구속한 체 운동하는 1 자유도 시스템으로 가정하여 선형 방정식을 수립하고, 로터 회전속도를 제어하기 위해 PID 제어기를 설계하였다. FORTRAN 언어를 기반으로 작성된 비선형 시뮬레이터 WINSIM을 이용하여 다양한 풍속 시나리오와 운전 방식에서 제어기의 성능을 시뮬레이션을 통해 확인하였다.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.904-911
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• 2001

A broomstick swinging biped acrobatic controller is designed and simulated to show capability of the system of controllers: virtual model controller is employed for the robot\`s posture balancing control while a higher level fuzzy controller modulate the one of the virtual model controller\`s parameter for the pendulum swinging motion generation. The robot is of 7 degree-of-freedom, 8-link planar bipedal robot having two slim legs and a body. Each leg consists of a hip joint, a knee joint, an ankle joint and the body has a free joint at the top in the head at which a freely rotating broomstick is attached. We assume that the goal for the acrobat robot is to maintain a body balance in the sagittal plane while swinging up the freely up the freely rotating pendulum. We also assume that the actuators in the joints are all ideal torque generators. The proposed system of controllers satisfies the goal and the simulation results are presented.

• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.265-271
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• 1999

In the feed drive systems or the spindle systems of machine tools that consist of many mechanical components, a torsional vibration is often generated because of its elastic elements in torque transmission-Generally, the accuracy of motion control system is strongly influenced by the dynamic behavior of coupled transmission components Especially, a torsional vibration caused by the elasticity of mechanical elements might deteriorate the quick movement of system and lead to shorten the life time of the mechanical transmission elements. So, it is necessary to analyze the electromechanical system mathematically to optimize the dynamic characteristics of the feed m1d spindle system. In this paper, based on the DC motor model, a model of electro-drive system with motor has been developed and an optimal criterion for tuning the gain of speed controller is discussed. The frequency bandwidth of the system and the damping ratio in time domain are optimal design specifications for the gain adjustment speed controller. The gains of PI speed controller are then derived from the bandwidth and damping ratio, and those relationships have been classified.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2007년도 춘계학술대회
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• pp.370-373
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• 2007

For the development of wind turbine, generally simulator is used. Simulator include wind turbine components. e.g blades, pitch and pitching method, rotor, yaw system, tower, drive train and so on. Few the more, it include a external circumstance. e.g wind speed, wind direction, air density. these basic parameters be used for the control of wind turbine by wind turbine controller in wind turbine simulator. The wind turbine controller can be designed in the wind turbine simulator. But a developer must make the real control system that will be made using PLC or PC or other processor. The developer must verify the function of control system. that is control algorithm , I/O function, communication, sequence and so on. This verification is possible if we substitute the real wind turbine control system for wind turbine controller in the simulator.

• 조명전기설비학회논문지
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• 제19권7호
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• pp.73-80
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• 2005

직립보행로봇은 동적인 시스템 구현을 위해 에너지원과 제어장치부가 로봇에 탑재되어야 한다. 때문에 본 연구에서는 소형에서 높은 기동 토크를 얻을 수 있는 직류전동기를 선택하였다. 직류전동기 서보시스템에는 아날로그 처리방식의 파워앰프를 이용하여, 제어기와 구동기가 일체화된 하나의 모들로 개발하였다. 이를 로봇액추에이터에 적용하고 동작과 복귀시의 응답특성을 연구하였다. 주 제어부는 PIC(Micro controller)를 채용하여 서보시스템과 함께 소형경량으로 로봇에 탑재할 수 있다.

• 조명전기설비학회논문지
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• 제25권7호
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• pp.15-25
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• 2011

This proposes an online loss minimization algorithm for series PI(SPI) based interior permanent magnet synchronous motor(IPMSM) drive to yield high efficiency and high dynamic performance over wide speed range. The loss minimization algorithm is developed based on the motor model. In order to minimize the controllable electrical losses of the motor and thereby maximize the operating efficiency, the d-axis armature current is controlled optimally according to the operating speed and load conditions. For vector control purpose, a SPI is used as a speed controller which enables the utilization of the reluctance torque to achieve high dynamic performance as well as to operate the motor over a wide speed range. Also, this paper proposes current control of model reference adaptive fuzzy controller(MFC), and estimation of speed using artificial neural network(ANN) controller. The proposed efficiency optimization control, SPI, MFC, ANN in this paper is applied to IPMSM drive system, the validity of this paper is proved by analyzing response characteristics in variety operating conditions.

• Journal of Power Electronics
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• 제9권3호
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• pp.343-353
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• 2009

In this paper, a nonlinear controller is proposed for Doubly-Fed Induction Machine (DFIM) drives. The nonlinear controller is designed based on an adaptive backstepping control technique, using a fifth order model of an induction machine in the synchronous d & q axis rotating reference frame, whose d axis coincides with the space voltage vector of the main AC supply, and using the rotor current and stator flux components as state variables. The nonlinear controller can perfectly track the torque reference signal measured in the stator terminals under the condition of unity power factor regulation, in spite of the stator and rotor resistance variations. In order to make the drive system capable of operating in the motoring and generating modes below and above the synchronous speed, two level Space-Vector PWM (SV-PWM) back-to-back voltage source inverters are employed in the rotor circuit. It is confirmed through computer simulation results that the proposed control approach is effective and valid.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.505-508
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• 1997

In this paper, an auto-tuning method for fuzzy controller based on the neural network is presented. The backpropagated error of neural emulator offers the path which reforms the fuzzy controller's membership functions and fuzzy rule, and used for speed control of induction motor. For the torque control method, an indirect vector control scheme with slip calculation is used because of its stable characteristics regardless of speed. Motor input current is regulated by a current controlled voltage source PWM inverter using space voltage vector technique. Also, the scheme of current control fuzzy controller is synchronous reference frame with decoupling term. DSP(TMS320C31) is used to achieve the high speed calculation of the space voltage vector PWM and to build the self-learning fuzz. control algorithm. An IPM is used to simplify hardware design.