• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.298-301
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• 1999

This paper presents a design technique based on the root locus method fur a class of $n^{th}$ order plants using PID (Proportional-Integral-Derivative) x (n-1) stage PD controller. It is intended to satisfy both transient and steady state response specifications. This controller can be used instead of a conventional PID controller for the higher order plants to obtain better performances. The controlled system is approximated as a stable and robust second order controlled system. Only adjusting the controller gain, the desired performances of the controlled system are satisfied. For the stable plant including the plant with small dead time, the controlled system is made robustly stable. In case of the unstable plant, when the controller gain is adjusted higher than the critical value, the unstable plant can also be made stable. Robustness properties given by this controller proposed in this paper have also been demonstrated by numerical examples.

• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.19-25
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• 2007

The MFC(Mass Flow Controller) is an equipment that measures and controls mass flow rates of fluid. Most of the HFC system is still using the PID algorithm. The PID algorithm shows superior performance on the MFC system. But the PID algorithm in the MFC system has a few problems as followed. The characteristic of the MFC system is changed according to the operating environment. And, when the piezo valve that uses the control valve is assembled in the MFC system, a coupling error is generated. Therefore, it is very difficult to find out the exact parameters of MFC system. In this paper, we propose adaptive PID algorithm in order to compensate these problems of a traditional PID algorithm. The adaptive PID algorithm estimates the parameters of MFC system using LMS(Least Mean Square) algorithm and calculates the coefficients of PID controller. Besides, adaptive PID algorithm shows better transient response because adaptive PID algorithm includes a feedforward. And we implement MFC system using proposed adaptive PID algorithm with self-tuning and Ziegler and Nickels's method. Finally, comparative analysis of the proposed adaptive PID and the traditional PID is shown.

• 전자공학회논문지
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• 제52권8호
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• pp.140-147
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• 2015

본 논문에서는 불확실성 파라미터를 포함한 김발시스템의 상태궤환 강인제어기를 제안하였다. 제안한 제어기는 김발시스템 동역학 변화에 강인하도록 설계하였고, 위치 및 속도 정상상태 오차 감소를 위한 동적보상기를 상태변수에 추가하였다. 페루프 시스템의 안정도는 Lyapunov 안정도판별법을 이용하여 증명하고, 2축 김발시스템 모델링을 이용한 모의실험을 통해 제어기 성능입증을 수행하였다.

• 대한기계학회논문집B
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• 제21권4호
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• pp.518-524
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• 1997

Experimental studies on combustion phenomena within a porous ceramic burner are reported. Main interest of the present work is to investigate fundamental flame behaviors and their effects on the burner operation. Due to high thermal capacity of the porous ceramic materials, the response of flame to burning condition changes is slow and thus to have a stabilized flame is quite difficult and takes much time. It is found that the temperature profile obtained at downstream of the flame zone is not much sensitive to the movement of flame and the speed of flame movement is less than 0.1 mm/sec for the conditions tested. With the premixed LPG/air flame imbedded within the porous ceramic burner, stable combustion regions and unstable combustion regions leading to blowoff or flashback phenomena are observed and mapped on flow velocity versus equivalence ratio diagram. For the development of burner operation technique which is more practical and safe, intermittent burning technique, where the fuel or/and air is supplied to the burner intermittently, is proposed as one of the flame control methods for the porous ceramic burner and tested in this study. Through the experiment, it is realized that the proposed method is acceptable in respect to burner performance and give much flexibility in the operation of porous ceramic burner.

• 센서학회지
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• 제9권6호
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• pp.440-447
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• 2000

본 논문에서는 곡선근사법과 뉴로퍼지 시스템의 열전도도 추론을 이용하여 대기온도의 변화에 관계없이 재질의 온도응답을 분류하기 위한 시스템을 제안한다. 재질의 온도응답은 정상상태에 도달하는데 장시간이 소요되며, 과도상태에서는 잡음을 포함하고 있기 때문에 실용화하는데 문제점이 있다. 제안하는 방법은 온도응답곡선의 과도상태만을 곡선근사법에 의해 지수함수화함으로써 단시간에 계측이 가능하고 측정중의 잡음을 없앨 수 있다. 뉴로퍼지 추론을 이용하여 임의의 대기온도 하에서 재질의 열전도도를 추론함으로써 열전도 특성의 복잡한 성질을 수학적으로 해석해야하는 문제점을 극복하였다. 이를 위해 인간의 손가락과 유사한 구조의 재질 온도응답센서를 제작하고, 하드웨어를 구현하였으며, 곡선근사화와 뉴로퍼지 알고리즘에 의한 분류 소프트웨어를 개발하였다.

• 한국통신학회논문지
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• 제18권9호
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• pp.1376-1385
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• 1993

본 연구에서는 고속운전 및 빈번한 부하의 변동에 대해서도 효과적인 과도응답 및 정상상태 응답특성을 갖도록 조작키(actuator)의 동특성방정식을 유도하여 매니퓰레이터의 동특성방정식과 결합시켜 2차 미분방정식으로 표현되는 새로운 매니퓰레이터의 모델 시스템 알고리즘을 제안하였다. 또한 비선형 궤환과 선형화 기법을 적용하여 변수들이 상호간에 심하게 결합되어 있는 시변 비선형 등특성모델을 감결합된 선형모델로 변환한다. 이럴 경구 모델의 제어기 구성시 시스템의 안정성을 얻기 위하여 극 재배치 법을 적용하였으며, 또한 경로오차를 최소화 시켜주기 위하여 오차방정식에 대한 최적제어를 적용하였다. 제안한 알고리즘을 조작키가 포함된 3관절 로보트 메니퓰레이터에 적용하여 컴퓨터 시뮬레이션한 결과 만족할만한 결과를 얻었다.

• Journal of Welding and Joining
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• 제22권4호
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• pp.43-49
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• 2004

Conventional method for electrode force application in resistance spot welding(RSW) processes is to use pneumatic cylinder. However, due to its inherent problems in pneumatic power system such as compressibility of air and poor transient response characteristics, new electrode force system with servo control are recently introduced in RSW machine. This machine is called “servogun”. The purpose of this study is to evaluate performance of servogun in case of spot welding of aluminum alloy. Aluminum alloy(A5052) sheets are spot welded using pneumatic gun and servogun. Both results are compared by means of macro cross-section etching test and tensile shear strength test. Numerous previous research have reported nugget with many voids and cracks are not uncommon defects in spot welds with aluminum alloy. The experimental results show similar defects in case of pneumatic gun. In contrast, use of servogun considerably reduced generation of voids and cracks. In case of step-wise increased forging force at the end of welding cycle with servogun, crack-free and void-free nuggets have been observed. The performance of servogun has been also verified by series of tensile shear test. Higher strength values have been achieved with servogun in comparison to that of pneumatic gun.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 하계학술대회 논문집 C
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• pp.1520-1522
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• 1994

The clarification of insulation capability of GIS(Gas Insulated Substation) under very fast transient overvoltages such as disconnector/circuit-breaker induced surge is very important for establishing not only a rational insulation testing method, but also insulation design intending to make GIS more reliable and more minimized. One of the absolute prerequisits for this is that more accurate measurement of VFTO. This describes capacitive voltage measuring methods for high voltage steep-footed oscillating waves using capacitive coupling principle and their systems including source and load impedances. Time domain response of unit step and its frequency characteristics are also investigated.

• 제어로봇시스템학회논문지
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• 제21권8호
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• pp.718-722
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• 2015

This paper proposes a fractional-order PID (Proportional-Integral-Derivative) control used electromagnetic strip stabilization controller in a continuous galvanizing line. Compared to a conventional PID controller, a fractional-order PID controller has integration-fractional-order and derivation-fractional-order as additional control parameters. Thanks to increased control parameters, more precise controller adjustment is available. In addition, accurate transfer function of a real system generally has a fractional-order form. Therefore, it is more adequate to use a fractional-order PID controller than a conventional PID controller for a real world system. Finite element models of a $1200{\times}2000{\times}0.8mm$ strip, which were extracted using a commercial software ANSYS were used as simulation plants, and Gaussian mixture models were used to find optimized control parameters that can reduce the strip vibrations to the lowest amplitude. Simulation results show that a fractional-order PID controller significantly reduces strip vibration and transient response time than a conventional PID controller.

• 전력전자학회논문지
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• 제21권1호
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• pp.58-64
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• 2016

This study presents a design method for a single-loop voltage controller that is suitable for an arbitrary waveform generator (AWG). The voltage control algorithm of AWG should ensure high dynamic performance and should attain sufficient robustness to disturbances such as inverter nonlinearity, sensor noise, and load current. By analyzing the power circuit of AWG, control limitation and control target are presented to improve the dynamic performance of AWG. The proposed voltage control algorithm is composed of a single-loop output voltage control, an inverter current feedback term to improve transient response, and a load current feedforward term to prevent voltage distortion. The guideline for setting control gain is presented based on output filter parameters and digital time delay. The performance of the proposed algorithm is proven by experimental results through comparison with the conventional algorithm.