• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.225-228
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• 1992

The purpose of this project is the presentation of new method for selection of a scalar control of linear time-periodic system. The approach has been proposed by Radziszewski and Zaleski [4] and utilizes the quadratic form of Lyapunov function. The system under consideration is assigned either in closed-loop state or in modal variables as in Calico, Wiesel [1]. The case of scalar control is considered, the gain matrix being assumed to be at worst periodic with the system period T, each element being represented by a Fourier series. As the optimal gain matrix we consider the matrix ensuring the minimum value of the larger real part of the two Poincare exponents of the system. The method, based on two-step optimization procedure, allows to find the approximate optimal gain matrix. At present state of art determination of the gain matrix for this case has been done by systematic numerical search procedure, at each step of which the Floquet solution must be found.

• 전자공학회논문지S
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• 제35S권1호
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• pp.60-67
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• 1998

In this paper, a gain scheduling method of PID controller is proposed using fuzzy logic for balancing control of an inverted pendulum. First, gains of PID controller are calculated using pole-placement technique for the linearized model of an inverted pendulum and these gains are modified by fuzzy logic throughout control operations. A PD controller is used by switching near the set-point to improve the performance. It is illustrated by simulations that the proposed hybrid fuzzy control method yidels smaller rising time and overshoot compared to the fixed-gain PID controller or fuzzy logic-based only PID controller.

• 한국지능시스템학회논문지
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• 제23권3호
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• pp.214-219
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• 2013

본 논문에서는 모델의 불확실성을 갖는 RC 배터리 모델의 State-of- Charge(SOC)를 추정하기 위한 강인한 고이득 관측기를 설계한다. 일반적으로 SOC를 추정하기 위해 사용하는 RC 배터리 모델은 실제 배터리 셀과 정확하게 일치하지 않고 거기에 따른 모델의 불확실성이 존재하게 된다. 이렇게 불확실성이 존재할 때 그 영향을 최소화하고 보다 정확한 SOC를 추정할 수 있는 강인한 관측기를 설계하는 것이 중요하다. 본 논문에서는 실제 배터리 셀과 RC 배터리 모델 사이에 모델 불확실성이 존재하더라도 정확한 SOC추정을 위하여 강인한 고이득 관측기를 설계한다. 하지만 이러한 강인한 고이득 관측기는 높은 이득으로 발생하는 튐 현상(peaking phenomenon)과 출력 측정오차에 민감하게 반응하여 발생하는 진동(perturbation)이 존재하는 단점이 있다. 그래서 이를 보완하기 위해 슬라이딩 모드 기법을 사용하여 강인한 고이득 관측기를 설계한다. 마지막으로 성능 검증을 위하여 선형 관측기, 고이득 관측기를 이용한 SOC 추정결과를 비교한다.

• 한국가금학회지
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• 제25권1호
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• pp.31-37
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• 1998

Two experiment were conducted to evaluate the feeding value of probiotics for the broiler chicks. Basal diets based on corn and soybean meal with no supplemental probiotics contained 21% dietary crude protein for the first 3 weeks and 19% for the rest of two weeks. In experiment 1, 0.2 % probiotics containing 2X 10 6 cfu /ml of Saccharomyces cerevisiae(S), Clostridium butyricum(C), Lactobacillus acidophilus(L), Bacillus polyfermenticus(B) were respectively supplemented to control groups. Two hundred day-olo chicks were randomly assigned to five treatments which had four replicates of 10 chicks each per treatment. Weight gain, feed consurnption, feed conversion ratio (FCR) were weekly measured for 5 weeks. The number of intestinal microflora was examined at the end of experiment. In experiment 1, Weight gain and feed intake of chicks fed probiotics exhibited a significant response compared to those of control for the first three weeks(P<0.01). Weight gain of S or C treatments was higher than that of control for the rest of two weeks, whereas it was significantly lower in L and B treatments than S or C treatments (P<0.01). Chicks fed S or C was significantly increased weight gain(P <0.05) compared to that of control at five weeks of age. FCR of C treatment seemed to improve relative to other supplemental probiotics groups, but was not significantly different. The number of intestinal anaerobes and Lactobacillus in large intestine of chicks fed probiotics supplements was significantly decreased compared to control groups(P<0.01). In experiment 2, there were six treatments: Ti, control; T2, 0.2%S; T3, 0.2%S + 0.2%C; T4, 0.2%S + 0.2%L; T5, 0.2%S + 0.2%B; T6, 0.2%S + 0.1%C + o.i%L + 0.1%B. Control diet based on corn soybean meal contained 21% CP and 3,2OOca1 /g ME with no probiotics. There were four replicates of 10 chicks each per treatment. Weight gain of chicks fed probiotics tended to increase compared to control groups, but were not significantly different between them. FCR was also improved in probiotics treatments. However, there were no significant differences between probiotics supplementation and control groups. The results of these experiments indicated that dietary supplemental probiotics improved weight gain, feed efficiency for the first three weeks of young broiler chicks, whereas supplementation of C, L, B combined probiotics to young broiler chicks was not superior to those of single or two probiotics.

• 농업과학연구
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• 제37권2호
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• pp.295-302
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• 2010

Electro-hydraulic transmission (HST) and an electronic control system was designed, and performance of the components were investigated through indoor tests. When input values for HST swash plate control were given at 3 levels (5, 10, 13 degrees) in forward and reverse directions, the errors were less than 0.6 degrees. Response time was in ranges of 0.14 ~ 0.16 s and 0.16 ~ 0.2 s for forward and reverse direction controls while driving, and the values were 0.23 ~ 0.25 s and 0.18 ~ 0.23 s at static condition, respectively. Similar experiments for left and right steering resulted errors less than 0.5 degrees. Resonse time was in ranges of 0.16 ~ 0.22 s and 0.11 ~ 0.23 s for left and right turns while driving, and the values were 0.07 ~ 0.21 s and 0.09 ~ 0.14 s at static condition, respectively. From frequency response experiments, control system appeared to follow sine waves appropriately at frequencies less than 0.8 Hz with gain of 0.11 dB and 0.09 dB for forward and reverse direction controls, respectively, and the gain decreased above the frequency. Phase difference showed a gradual increase and were less than 45 degree up to 0.8 Hz. Similar experiments for left and right streering showed that the control system appeared to follow sine waves appropriately at frequencies less than 0.8 Hz with gain of 0.28 dB and 0.26 dB for left and right steering controls, respectively, and the gain decreased above the frequency. Phase difference showed a gradual increase and were less than 45 degree up to 0.8 Hz, which was the same as for the forward and reverse controls.

• 전력전자학회논문지
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• 제23권3호
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• pp.225-230
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• 2018

This paper proposes a parametric design of an LLC resonant inverter used for a microwave oven. To improve the harmonic performance of the microwave oven, a current controller with a variable PI gain is proposed. Due to the recent strengthening of harmonics regulations, inverter control technology for microwave ovens is now required to satisfy harmonic performance. In an LLC resonant inverter, the voltage gain varies remarkably depending on the magnetron voltage, output power, and input voltage. To satisfy harmonic performance, a controller that can maintain operation in the zero-voltage switching (ZVS) region and control changes in voltage gain is required. The modified design of the LLC resonant inverter ensures ZVS operation even when the magnetron is heated. Application of the variable current controller improves harmonic control according to the instantaneous gain curve change. The validity of the proposed power control with a variable current controller is verified by experiments with a 1200 W microwave oven.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.93.2-93
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• 2001

This paper presents the implementation of fuzzy PI gain scheduling controller (FPICGS) for controlling flexible joint robot arms with uncertainties from time-varying load. The term FPICGS is called based on a combination of fuzzy PI control scheme with a set of rule bases. Principle of design for a FPICGS is given along with the implementation of the designed computer aided control system. The experiment reveals an effectiveness of the proposed control scheme for flexible joint robot arms driven by a DC motorhooked with a spring which both parameters are completely unknown parameters ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.732-735
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• 1997

Variable Structure Controller(VSC) is usually known to have robustness to bounded exogenous disturbances. The robustness is attributed to the discontinuous term in the control input. However, this discontinuous term also causes an undesirable effect called chattering. To alleviate chattering, a hybrid controller consisting of VSC and Fuzzy Logic Controller(FLC) is proposed, which belongs to the category of Fuzzy Sliding Mode Controller(FSMC). The role of FLC in FSMC is to replace a fixed gain of a discontinuous term with a time-varying one based on a specified rule base. The characteristics of proposed controller are shown to be similar to those of VSC with a saturation function instead of sign function. The only remarkable difference is the nonlinearity whose form can be adjusted by free parameters, normalize gain, denormalize gain, and membership functions. Applied to AC servo motor, the proposed controller is compared with VSC in a regulation problem as well as a speed tracking problem. The simulation results show a substantial chatter reduction.

• International Journal of Control, Automation, and Systems
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• 제5권6호
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• pp.691-700
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• 2007

This paper proposes a simple but effective design method of PID control using a numerical optimization method. In order to achieve both stability and performance, gain and phase margins and performance indices of step response directly compose of the cost function. Hence, the proposed approach is a multiobjective optimization problem. The main effectiveness of this approach results from the strong capability of the used optimization method. A one-dimensional example concerning gain margin illustrates the practical applicability of the optimization method. The present approach has many degrees of freedom in controller design by only adjusting related weight constants. The attained PID controller is compared with Wang#s and Ho#s methods, IAE, and ISE for a high-order process, and the simulation result for various design targets shows that the proposed approach achieves desired time-domain performance with a guarantee of frequency-domain stability.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.178.4-178
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• 2001

In this paper a self-tuning gain-scheduled skyhook control for semi-active suspension systems is investigated. The dynamic characteristics of a continuously variable damper including electro-hydraulic pressure control valves is analyzed. A 2-d.o.f. time-varying quarter-car model that permits variations in sprung mass and suspension spring coefficient is considered. The self-tuning skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters. The skyhook gains are gain-scheduled in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype ...