• The Transactions of the Korean Institute of Electrical Engineers A
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• v.49 no.9
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• pp.433-445
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• 2000

In this paper, optimal tuning problem of power system stabilizer(PSS) using Immune Algorithm(IA) is investigated to improve power system dynamic stability. In proposed method, objective function is represented as antigens. An affinity calculation is embedded within the algorithm for determining the promotion or suppression of antibody. An antibody that most fits the antigen is considered as the solution to PSS tuning problem. The computaton performance by the proposed method is compared with Genetic Algorithm(GA). The porposed PSS using IA has been applied for two sample system, single-machine infinite bus system and multi-machine power system. The performance of the proposed PSS is compared with that of conventional PSS. It is shown that the proposed PSS tuned using immune algorithm is more robust than conventional PSS.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.43-50
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• 2007

Reheating furnace is an essential facility of a rod mill plant where a billet is heated to the required rolling temperature so that it can be milled to produce wire. Although it is very important to obtain information on billet temperatures, it is not feasible during furnace operation. Consequently, a billet temperature profile should be estimated. Moreover, this estimation should be done within an appropriate time interval for an on-line application. In this paper, a billet heat transfer model based on 2D FEM(Finite Element Method) with spatially distributed emission factors is proposed for an on-line billet temperature estimation and also a measurement is carried out for two extremely different furnace operation patterns. Finally, the difference between the model outputs and the measurements is minimized by using a new optimization algorithm named uDEAS(Univariate Dynamic Encoding Algorithm for Searches) with multi-step tuning strategy. The obtained emission factors are applied to a simulation for the data which are not used in the model tuning for validation.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.41-44
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• 1988

This paper represents the study of an effective self-tuning PID control for a robot manipulator to track a reference trajectory in spite of the presence of nonlinearities and parameters uncertainties in robot dynamic models. In this control scheme, an error model of the manipulator is established, for the first time, by difference between joint reference trajectory and tracked trajectory. It's model Parameters are estimated by the recursive least-square identification algorithm, and classical controller parameters are determined by pole placement method. A computer simulation study was conducted to demonstrate performance of the proposed self-tuning PID control in joint-based coordinates for a robot with payload.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.5 s.176
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• pp.1271-1280
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• 2000

A sensor placement technique to identify structural parameter was developed. Experimental results must be acquired to identify unknown dynamic characteristics of a targeting structure for the comparison between analytical model and real structure. If the experimental environment was not equipped itself properly, it can be happened that some valuable information are distorted or ill-condition can be occurred. In this work the index to determine exciting points was derived from the criterion of maximizing parameter sensitivity matrix and that to choose measurement points was from that of preserving the invariant of sensitivity matrix. This idea was applied to a compressor hull structure to verify its performance. The result shows that the selection of measurement and excitation points using suggested criteria improve the ill-conditioning problem of inverse type problems such , as model updating.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1322-1326
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• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confirmed by simulation of the contour tracking task of four joint manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1218-1225
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• 2008

This paper presents the design of a neural network based adaptive control for missile is presented. The application model is Exocet MM40, which is derived from missile DATCOM database. Acceleration of missile by tail Fin control cannot be controllable by DMI (Dynamic Model Inversion) directly because it is non-minimum phase system. So, the inner loop consists of DMI and NN (Neural Network) and the outer loop consists of PI controller. In order to satisfy the performances only with PI controller, it is necessary to do some additional process such as gain tuning and scheduling. In this paper, all flight area would be covered by just one PI gains without tuning and scheduling by applying mixture control technique of conventional controller and NN to the outer loop. Also, the simulation model is designed by considering non-minimum phase system and compared the performances to distinguish the validity of control law with conventional PI controller.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1583-1588
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• 2000

The dynamic characteristics of a HDD suspension system are investigated by finite element analysis and experimental modal analysis. A finite element model of the suspension Type850 was developed for unloaded case. The calculated vibration modes were compared with measurements and agree well in shape and frequency except some local modes. Local thickness and Young's modulus of the finite element model are updated by modal tuning method to develop the precise FE model. A sensitivity matrix of the natural frequencies for some design variables was calculated using finite difference method. Most natural frequencies calculated by the tuned FE model coincide with the measurements and the errors between them are less than 2%.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.2 s.245
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• pp.105-111
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• 2006

This paper describes a Neural Network based PID control scheme for pneumatic NC axes. Pneumatic systems have inherent nonlinearities such as compressibility of air and nonlinear frictions present in cylinder. The conventional PID controller is limited in some applications where the affection of nonlinear factor is dominant. A self-excited oscillation method is applied to derive the dynamic design parameters of linear model. The gains of PID controller are determined using a self tuning scheme. The experiments of a trajectory tracking control using the proposed control scheme are performed and a significant reduction in tracking error is achieved by comparing with those of a PID control.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.514-517
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• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confined by simulation of the contour tracking task of four joint manipulator.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.6
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• pp.57-64
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• 2001

This study presents an self tuning regulator(STR) to improve the air-fuel ratio control of performance of gasoline engine. The STR is designed based on the nonlinear dynamic engine model, and the performance of the STR is evaluated through the simulation and experiments. The STR shows better performance than a conventional PI controller in terms of the response time and disturbance rejection. Since the STR has less calculation load than the complex nonlinear controller, this algorithm can be easily applied to on-board engine controller.