• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.503-503
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• 2000

This paper presents the design technique of the using of PlI, PID and PIDA Controllers in order to achieve the desired transient and steady state responses. The merit of the proposed technique is any tuning method is not being required. By using of the forward controller, so that all given specifications to be designed can be obtained via the root locus approach.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.149-149
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• 2000

We experimented on AGV driving test with color CCD camera which is setup on it. This paper can be divided into two parts. One is image processing part to measure the condition of the guideline and AGV. The other is part that obtains the reference steering angle through using the image processing parts. First, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, AGV knows the driving conditions of AGV. After then using of those information, AGV calculates the reference steering angle changed by the speed of AGV. In the case of low speed, it focuses on the left/right error values of the guide line. As increasing of the speed of AGV, it focuses on the slop of guide line. Lastly, we are to model the above descriptions as the type of PID controller and regulate the coefficient value of it the speed of AGV.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.380-380
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• 2000

We have developed a design/analysis tool for use with Mat lab whick is named as "Parametric Robust Control and Identification(PROCI)". The tool is composed of three parts: Part i) consists of the identification of the continuous time transfer function by using either time domain input-output data or frequency response data, which might be experimentally obtained. Part ii) is the CDM synthesis of classical controller such as PID, Lead/Lag compensators. In part iii), the analysis of robustness of overall system can be dealt with. This tool allows us to analyze completely most of robustness issues with respect to the interval uncertaintyncertainty

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.831-836
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• 2006

In the process of accurate manufacture and measurement, it is necessarily required to isolate external or internal vibration due to external disturbance and internal actuators. The higher vibration isolation system gets damping around resonance, the better it is generally. This paper analyzes the performance of an existing passive air-spring for vibration isolation table by using experiment and simulation. Optimal design for a passive air spring can be obtained by tuning the size of the orifice. Also design for an active isolation system is carried out by applying PID controller and considering non-linearity of pneumatic characteristics with help of look-up table. We have developed the active vibration isolation table with the better isolation performance.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2055-2057
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• 2002

본 논문에서는 외란 및 파라미터 변동에 강건한 시간지연 제어 알고리즘을 전기식 구동장치의 위치 제어기에 적용하여 설계한 내용을 기술하였다. 시간지연 제어기는 일정하게 경과된 시간에서의 외란 및 동특성 변동의 양을 현재의 것으로 가정하여 전체 제어 시스템의 특성이 기준모델의 특성을 따르게 하는 제어기이다. 파라미터 변동 및 외란에 대해 시간지연 제어기의 강건성을 시뮬레이션을 통해 입증하였으며 PID 제어기와도 비교하였다. 또한 포화요소에 대한 와인드업 방지보상기와 모델링되지 않는 동특성에 대한 대향필터링 보상기를 설계하여 시스템의 안정성을 향상시켰다.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.6
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• pp.164-169
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• 2000

Recently, High accuracy and precision are required in various industrial field especially, semiconductor manufacturing apparatus, Ultra precision positioning apparatus, Information field and so on. Positioning technology is a very important one among them. As such technology has been rapidly developed, this field needs the positioning accuracy as high as submicron. It is expected that the accuracy of 10nm and 1nm is required in precision work and ultra precision work field, respectively by the beginning of 2000s. High speed and low vibration are also needed. This work deals with the design method and control system of Ultra precision positioning apparatus. Control performance and stability analysis were performed in advance by modeling and designing the controller with Simulink.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.1
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• pp.151-159
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• 2008

The parameter-based cardiovascular impedance simulator that is able to overcome the limits of conventional mock circulatory systems is critical for the development and test of biomedical devices including artificial heart. The concept of impedance simulator was validated mathematically in a previous study using high-gain feedback linearization control which, however, may cause serious difficulties and limits for practical implementation. In this study, therefore, practical applicability of the impedance simulator is investigated considering the physical limits such as motor speed and torque. Simple PID controller which do not require complex model of the simulator is used considering the practical implementation. Design guidelines of the impedance simulator are also provided based on the results.

• Journal of Advanced Marine Engineering and Technology
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• v.26 no.2
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• pp.219-225
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• 2002

Parameter tuning methods by Ziegler-Nichols for PID controllers are generally classified into Z-N(1) and Z-N(2). The purpose of this paper is to describe what relations exist between the methods of Z-N(1) and Z-N(2), or how Z-N(1) can be originated from Z-N(2) by analyzing one loop control system composing of P or PI controller and time delay process. In this paper, for the first step to seek mutual relations, the simple formulas of Z-N(2) are transformed into those composing of the same parameters as Z-N(1) which is derived from the analysis of frequency characteristics. Then, the approximation of the actual ultimate frequency is proposed as important premise in the translation between Z-N(1) and (2). Such equalization and approximation brings a simple approximated formula which can explain how Z-N(1) is originated from the Z-N(2) in the form of formula.

• Proceedings of the KIPE Conference
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• 2018.11a
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• pp.18-20
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• 2018

본 논문에서는 위치-속도 모드전환 제어기를 제안하고 이 제어기를 활용한 운동범위 제약을 가진 기계의 연착륙 방법을 제시한다. EGR 밸브와 같은 기계제품들은 이동할 수 있는 범위를 가지며 범위 내에서 위치를 제어한다. 위치제어 중 양끝 위치로 이동시 기계는 빠른 속도로 충돌할 수 있다. 속도가 빠르면 빠를수록 충돌 시, 충격력이 커지며, 충격력으로 기구물은 빠르게 마모되고 수명을 단축시킬 수 있다. 따라서 양끝 위치 이동 시, 일시적으로 속도를 제어할 수 있는 제어기가 필요하다. 제안된 위치-속도 모드전환제어기는 Hanus Scheme을 사용하여 모드전환 시, 범프효과로 인한 부작용을 감소시켰으며, 모드전환 이후 모드 전환된 제어기의 지령을 빠르게 추종한다. 마지막으로, EGR 밸브 양끝 위치 학습알고리즘에 적용시켜 시험하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.4
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• pp.317-325
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• 2014

For a missile with a strapdown seeker, line-of-sight rate for guidance is obtained by compensating the look angle rate from the strapdown seeker by the body angular rate from rate gyros. However, the body angular rate from rate gyros has different signal properties when it compared to the body angular rate implicitly included in the look angle rate. Typically this discrepancy causes instability of homing loop. In this paper, we propose a design method of homing loop where seeker delay is compulsively placed in the output signal of the rate gyros for accordance of both body rates. Also, PID control loop is considered for obtaining stabilized guidance command even though uncertainties of seeker delay is associated. The stability analysis for the linear homing loop before and after the compensation has been done. The stability and performance of the designed terminal homing loop is verified through full nonlinear 6-DOF simulations.