• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2540-2545
• /
• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 전력전자학회논문지
• /
• 제21권4호
• /
• pp.364-372
• /
• 2016

In this paper, a voltage controller for the seamless transition of a grid-connected inverter for ESS is proposed. The single-phase inverter is operated as a current controller when the grid is connected and as a voltage controller in the stand-alone mode when the grid is disconnected. Generally, in the case of grid recovery, the overcurrent may flow into the system because of the mismatch phase between the inverter output and grid voltages. The proposed controller resolves the overcurrent problem through phase delay problems with initial value feed-forward control of the integrator when the grid voltage is restored. The effects of the control method are simulated through PSIM, and the usefulness of the control method is verified through experiments.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 추계학술대회 논문집
• /
• pp.406-409
• /
• 1997

An economical 4-axis CNC controller employing step motors is designed and implemented in this paper. By using the inherent ability of holding position of the motor, the CNC controller uses open-loop control for removing trajectory error and for a simple hardware. Each drive of axis has an 8-bit microprocessor 89C52 and a PC controls the axes and pendant by means of RS232C serial communication. Backlash is also compensated at the axis controller. While compensating the backlash, the feed rate becomes zero in order to minimize trajectory error. The trajectories of 16ms interval are computed on PC and are sent to motor drives. In the drives, the trajectories are linearly interpolated for 2ms interval. The developed CNC does not require add-on specific motion card on PC. From the experimental results, the validity of the CNC controller based on step motor is proved.

• Journal of Advanced Marine Engineering and Technology
• /
• 제6권2호
• /
• pp.42-50
• /
• 1982

The controller, generally, is to be designed to optimize the system in somesence subject to some constraints. In this paper the method to determine the optimal parameters of the PI controller in the unity feed back control system is proposed. Here the sence of the optimal is to minimize the integral of the squared error under the constraints that the maximum absolute value of control input, maximum overshoot, rise time, etc., should be smaller than the pre-given values. In the analysis the traditional method and the state variable method are combined in order to reduce the computational procedures required in the design of PI controller. Therefore, the procedure proposed in the paper is usefully applicable to the controller system with a general second-order plant. Finally, the indicial response curves generated at the optimal state are compared with those of non-optimal state and the effectiveness of this method is assertained.

• Nuclear Engineering and Technology
• /
• 제44권4호
• /
• pp.363-368
• /
• 2012

A feedwater controller targeted for an ABWR has been implemented using a modern field programmable gate array (FPGA), and verified using the full scope simulator at Taipower's Lungmen nuclear power station. The adopted control algorithm is a rule-based fuzzy logic. Point to point validation of the FPGA circuit board has been executed using a digital pattern generator. The simulation model of the simulator was employed for verification and validation of the controller design under various plant initial conditions. The transient response and the steady state tracking ability were evaluated and showed satisfactory results. The present work has demonstrated that the FPGA based approach incorporated with a rule-based fuzzy logic control algorithm is a flexible yet feasible approach for feedwater controller design in nuclear power plant applications.

• 조명전기설비학회논문지
• /
• 제22권12호
• /
• pp.29-35
• /
• 2008

본 논문에서는 부하전류의 급격한 변화에도 안정적인 출력진압을 얻기 위하여 강압쵸퍼의 전압제어 기를 개선하는 방법으로 부하전류 전향보상기를 제시하였다. 제시된 부하전류 전향보상기의 특성을 확인하기 위해 메이슨(Mason)의 이득공식을 이용하여 기존의 전압제어기가 포함된 전체 시스템의 전달함수와 부하전류 전향보상기가 추가된 전체 시스템의 전달함수를 각각 근궤적선도와 보드선도 상에서 비교하였다. 그 결과 시스템의 극점이 개선되고, 공진주파수에서의 첨두값의 크기 및 절점주파수의 위상여유가 양호한 것을 확인하였다. 따라서, 제시된 제어기법이 강압쵸퍼의 정상상태 및 동특성을 향상시키고 출력에 나타나는 외란에 의한 영향을 감소시킨 것을 확인할 수 있었다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1995년도 추계학술대회 논문집
• /
• pp.985-990
• /
• 1995

Recently, the development of high speed and high precision NC-lathe for piston head machining is needed for the complexity and diversity of the piston head shape used in automobile reciprocating engine. THe piston head has many complex shapes in the aspect of fuel economy, such as ovality, profile, double ovality and recess. Among them, for the maching of the over shape of 0.1~1mm the cutting tool should move periodically symchronized with the rotation of piston workpiece. The cutting tool feeed system must have high positioning accuracy for the precise machining, high speed for the fast maching and high dynamic stiffness for the cutting force. The linear brushless DC motor is used for satisfying these coditions. The ballbush guide and supporting guide using turcite is used for the guidance of the feed drive system. Linear encoder, digital servo ampllifer and controller are used for driving the motor. THis paper presents the design and simulation of the new tool feed system for noncircular machining.

• 한국기계가공학회지
• /
• 제19권1호
• /
• pp.49-55
• /
• 2020

Studies on the optimizations of machining processes use two different methods. The first is feed control in real-time by spindle load in a machine tool. The second is feed scheduling in NC code control by material removal rate using a CAD/CAM system. Each approach possesses its respective merits and issues compared to the other. That is, each method can be complementary to the other. The purpose of the study is to improve the productivity of the bulkhead, an aircraft Duralumin structure. In this paper, acceleration or deceleration of cutting tool by spindle load data is achieved using adaptive feed control macro programming in a machine tool.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
• /
• pp.413-417
• /
• 2001

High speed linear motor feed system has been simulated using neural network technique. Due to the limited resources, control gain tuning has been the most troublesome part in controller design. Regardless of the system structure, conventional control gain could be adjusted minimizing the resulting error using the proposed method. Slight performance deterioration was observed at the small value of training epoch.

• 대한전기학회논문지
• /
• 제39권12호
• /
• pp.1281-1287
• /
• 1990

A new thermal power plant feed-water system model, which is based on Astrom, is presented. Astrom's model has some difficulties in applying to practical systems because it is not able to measure the heat and energy transfer loss. Hence, in order to make up for these difficulties, the Gas State Equation is added to the model. Computer simulations are performed to show the validity of the new model at thermal power plant with practical boiler operating data and to verify the L.Q. controller effect on boiler drum level system.