• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1853-1857
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• 2005

In most of motor-driven motion control systems, an encoder is used to measure a position of the motor and the velocity information is obtained by measuring the position increment over a sampling period. The quantization effect due to limited resolution of the encoder induces some measurement errors, and consequently causes deterioration of the motion performance especially in low velocity. In this paper, we propose a gain-scheduled acceleration estimator which works in wider velocity range than the original acceleration estimator. We investigate and analyze characteristics of the velocity measurement mechanism which takes into account the quantization effect of the encoder. Next, we introduce the acceleration estimator and propose a gain-scheduled acceleration estimator. The bandwidth of the gain-scheduled acceleration estimator is automatically adjusted by the velocity command. Finally, its performance is evaluated by simulation and experiment, and the results are compared with those of a conventional method and the original acceleration estimator.

• 한국생산제조학회지
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• 제24권3호
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• pp.327-333
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• 2015

As industrial robots come into wider use, their control techniques are being developed along with enhancements in their performance. Specially, the dynamic performance of a 6-axis articulated industrial robot is greatly changed according to the position and orientation of the robot. This means that the PI parameter tuning of the robot and orientation of the robot. This mconsidering the dynamic characteristics of robot mechanism. In this study, $LabView^{(R)}$ programming was applied to automatically conduct parameter scheduling for various robot motions. Using forward and inverse kinematics of RS2, we can divide the working envelope of RS2 into 24 subspaces. We then conduct the gain-tuning according to each subspace. Finally, we program the actual gain scheduling, in which the optimized gain-tuning for each subspace to be passed should be changed for various robot motions using $LabView^{(R)}$.

• 한국통신학회논문지
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• 제37권8A호
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• pp.601-611
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• 2012

본 논문에서는, 다중 안테나 다중 사용자가 존재하는 3-cell 간섭 Broadcast 채널 (IFBC: interference broadcast channel) 에서 얻을 수 있는 공간 다중화 이득 (spatial multiplexing gain)에 대해서 소개한다. 이러한 공간 다중화 이득을 최대화하면서 총 수율을 높이기 위하여, 우리는 간섭 정렬 기법 (IA: interference alignment)에 스케쥴링 기법을 더한 방법을 제안하며, 이는 IFBC 환경에서 TDMA 기법보다 높은 수율 성능을 보인다. 최적의 스케쥴링 방법은 다중 사용자 이득을 이용하여 총 수율을 최대화하는 전수 조사 알고리즘을 이용한다. 또한, 전수 조사의 계산 복잡도가 매우 높기 때문에, 이를 효과적으로 줄이는 coordinated ascent 방법을 이용한 부최적 스케쥴링 방법도 제안 한다.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.371-379
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• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents a vibration control solution for industrial robots which have flexible joints. The joint flexibility is modeled as a two-mass system. And we analyze the vibration problem of a classical P-PI controller when it used for the flexible joints of industrial robots. Then a state feedback controller is designed for vibration suppression of the two-mass system. Finally, a gain-scheduling method is designed for maintaining control performance in spite of the time-varying nature of each joint's load side inertia. Simulation and experimental results show effective vibration suppression and uniform properties in overshoot in spite of the variation of load. The result of this study can be applied to the appropriate gain manipulation of many other mechatronic devices which have the two-mass system with varying load side inertia.

• 한국통신학회논문지
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• 제32권11C호
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• pp.1111-1118
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• 2007

본 논문은 다중 사용자 시스템에서 좋은 채널을 가진 사용자를 선택함으로써 얻을 수 있는 다이버시티, 즉 다중 사용자 다이버시티로부터 증대되는 처리율 (throughput)에 대해 새로운 접근 방식을 이용하여 분석하였다. 이와 같은 다중 사용자 다이버시티 이득으로부터 도출되는 처리율의 증가를 근사적 형태의 식으로 유도하기 위하여, 본 논문에서는 Puiseux 급수를 이용하였고 이를 통해 단순화된 맺음식 (closed form)의 결과를 얻을 수 있었다. 이 결과식은 다중 사용자 다이버시티 이득이 신호 대 잡음비 (SNR)에 독립적이라는 것을 보여주고 있다. 또한 본 논문에서는 위의 결과를 Max C/I과 proportional fair scheduling과 같은 스케줄링 알고리즘에 확대 적용하였다. 그리고 제시한 결과식을 모의실험과 비교하여 검증하였다.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.839-845
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• 2013

A CSTR (Continuous Stirred Tank Reactor) is a highly nonlinear process with varying parameters during operation. Therefore, tuning of the controller and determining the transition policy of controller parameters are required to guarantee the best performance of the CSTR for overall operating regions. In this paper, a methodology employing the 2DOF (Two-Degree-of-Freedom) PID controller, the anti-windup technique and a fuzzy gain scheduler is presented for the temperature control of the CSTR. First, both a local model and an EA (Evolutionary Algorithm) are used to tune the optimal controller parameters at each operating region by minimizing the IAE (Integral of Absolute Error). Then, a set of controller parameters are expressed as functions of the gain scheduling variable. Those functions are implemented using a set of "if-then" fuzzy rules, which is of Sugeno's form. Simulation works for reference tracking, disturbance rejecting and noise rejecting performances show the feasibility of using the proposed method.

• 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 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.355-360
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• 1991

A method of autopilot gain-scheduling is presented for missiles which have heavy aerodynamic coupling between pitch and yaw channels due to high maneuverability. Pitch and yaw, autopilot are cross-coupled, and their feedback gains are scheduled by total acceleration and bank angle for given Mach number and height. Bank angle information is obtained by using a simple estimator. By computer simulation, it is shown that the proposed method is superior to other existing methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2725-2730
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• 2003

In this study we present a vibration controller for articulated robots that has flexible joints modeled as a 2-mass system. Most of articulated robots have time varying load inertias for each axis according to its motion. Moreover, the inertias vary drastically; for the base axis of articulated robots it may vary about 10 times of its minimum value. But, for industrial robots and many mechatronic devices, it is desirable to maintain control performance in spite of load inertia variation. So we propose a control gain adjustment rule considering the time-varying nature of load inertia. In this gain-adjusting algorithm, the pole locations are in proportion to the anti-resonance frequency of the 2-mass system. The simulation and experimental results show uniform properties in overshoot in spite of the variation of load.

• 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.