• KIEE International Transaction on Systems and Control
• /
• 제2D권2호
• /
• pp.78-91
• /
• 2002

In the thermal power plant, there are six manipulated variables: main steam flow, feedwater flow, fuel flow, air flow, spray flow, and gas recirculation flow. There are five controlled variables: generator output, main steam pressure, main steam temperature, exhaust gas density, and reheater steam temperature. Therefore, the thermal power plant control system is a multinput and output system. In the control system, the main steam temperature is typically regulated by the fuel flow rate and the spray flow rate, and the reheater steam temperature is regulated by the gas recirculation flow rate. However, strict control of the steam temperature must be maintained to avoid thermal stress. Maintaining the steam temperature can be difficult due to heating value variation to the fuel source, time delay changes in the main steam temperature versus changes in fuel flow rate, difficulty of control of the main steam temperature control and the reheater steam temperature control system owing to the dynamic response characteristics of changes in steam temperature and the reheater steam temperature, and the fluctuation of inner fluid water and steam flow rates during the load-following operation. Up to the present time, the Proportional-Integral-Derivative Controller has been used to operate this system. However, it is very difficult to achieve an optimal PID gain with no experience, since the gain of the PID controller has to be manually tuned by trial and error. This paper focuses on the characteristic comparison of the PID controller and the modified 2-DOF PID Controller (Two-Degrees-Freedom Proportional-Integral-Derivative) on the DCS (Distributed Control System). The method is to design an optimal controller that can be operated on the thermal generating plant in Seoul, Korea. The modified 2-DOF PID controller is designed to enable parameters to fit into the thermal plant during disturbances. To attain an optimal control method, transfer function and operating data from start-up, running, and stop procedures of the thermal plant have been acquired. Through this research, the stable range of a 2-DOF parameter for only this system could be found for the start-up procedure and this parameter could be used for the tuning problem. Also, this paper addressed whether an intelligent tuning method based on immune network algorithms can be used effectively in tuning these controllers.

• 대한전자공학회논문지SD
• /
• 제39권9호
• /
• pp.62-71
• /
• 2002

본 논문에서는 용량형 압력센서의 비선형성 문제를 해결하기 위한 적분형 C-V 변환기를 제안하였다. 이 변환기는 스위치 커패시터 적분기와 스위치 커패시터 차동증폭기로 구성되어 있으며 인가된 압력에 반비례하는 센서용량을 전압으로 변환하여 선형적으로 출력한다. 제안된 적분형 C-V 변환기는 PSPICE 시뮬레이션에서 초기 전극간격의 90%에 해당하는 큰 변위에 대해서 0.01%/FS 이하의 매우 낮은 비선형도와 오프셋 용량 및 기생용량에 둔감한 우수한 특성을 보였다. 또한 센서신호처리의 필수기능인 오프셋 보정 및 이득조정이 적분형 C-V 변환기에서 용이하게 구현됨을 보였다.

• 한국정보통신학회논문지
• /
• 제21권2호
• /
• pp.416-422
• /
• 2017

인간과 로봇이 같은 공간에서 작업을 할 경우가 많아짐에 따라 안전성을 고려한 로봇의 제어가 필요하다. 안정성을 위해서 로봇은 인간의 힘에 순응해야 함으로 낮은 임피던스가 요구되는 반면에 높은 제어성능을 갖도록 하기 위해서는 외란에 강인하기 위해서는 높은 임피던스가 요구된다. 이러한 이율배반적인 목적을 달성하기 위해서 본 연구에서는 적분슬라이딩모드와 외란관측기(DOB)를 사용하여 인간의 힘 이외의 외란에는 강인한 특성을 보이고 인간의 힘에는 순응할 수 있는 제어기를 설계한다. 인간의 동작이 특정 주파수의 범위에 있다는 사실에 근거하여 인간에 의한 외란인 경우의 외란에 대해서는 로봇이 순응하도록 슬라이딩모드를 설계하는 것이 본 논문의 독창적인 아이디어이다.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2008년도 춘계종합학술대회 A
• /
• pp.213-217
• /
• 2008

본 논문에서는 표준 IMC-PID 제어기에 시스템 식별상의 위상 조절 인자를 설계 변수로 추가함으로 새로운 IMC-PID 제어기 설계 방법을 제안한다. 제안된 제어기의 동조법으로 해석적으로 구해진 주파수 영역 특성을 통해 주파수 영역 성능을 보장하도록 하는 설계 변수의 구속 조건 하에서 시간영역의 적분 오차 지표를 가격함수로 최소화하는 최적 해를 얻는다. 이 제안된 동조법은 다양한 설계 사양을 동시에 고려하도록 하여 기존의 IMC-PID의 단일 설계 변수 동조가 갖는 비유연성 문제를 개선하였다. 사례 연구에서 기존의 동조법들과의 성능 비교를 통해 그 유용성을 검토했다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1901-1905
• /
• 2004

A controller designed by CDM for a servo type system which is an augmented system constructed from a rotational inverted pendulum with an integrator added to its arm, is presented in this paper. In order to be able to apply the CDM concept, the augmented system must be linearized and converted into controllable canonical form. Then, the controller consisting of the state feedback gain matrix and an integral gain in the sense of CDM can be obtained. This shows that design procedure for the proposed controller is easy. The experimental results obtained from the rotational inverted pendulum controlled by the proposed controller show that the system response has no steady-state error, however, the oscillation amplitude of the arm angle is still significant. Therefore, in this paper, the friction compensation using Coulomb friction with stiction is also added to the controller. The oscillation amplitude of the arm angle that can be reduced remarkably is also shown in the experimental results.

• 전기학회논문지
• /
• 제57권3호
• /
• pp.518-526
• /
• 2008

The fuzzy self-tuning PID controller is a PID controller with a fuzzy logic mechanism for tuning its gains on-line. In this structure, the proportional, integral and derivative gains are tuned on-line with respect to the change of the output of system under control. This paper deals with two types of fuzzy self-tuning PID controllers, rule-based fuzzy PID controller and learning fuzzy PID controller. As a medical application of fuzzy PID controller, the proposed controllers were implemented and evaluated in a laparoscopic surgery robot system. The proposed fuzzy PID structures maintain similar performance as conventional PID controller, and enhance the position tracking performance over wide range of varying input. For precise approximation, the fuzzy PID controller was realized using the linear reasoning method, a type of product-sum-gravity method. The proposed controllers were compared with conventional PID controller without fuzzy gain tuning and was proved to have better performance in the experiment.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2005년도 추계학술대회 학술발표 논문집 제15권 제2호
• /
• pp.423-426
• /
• 2005

In this paper, we proposed a PID tuning algorithm by the fuzzy set theory to improve the performance of the PID controller. The new tuning algorithm for the PID controller has the initial value of parameter Kp, $\tau_{I}$, $\tau_{D}$. by the Ziegler-Nichols formula that uses the ultimate gain and ultimate period from a relay tuning experiment. We will get the error and the error rate of plant output corresponding to the initial value of parameter and fnd the new proportion gain(Kp) and the integral time ($\tau_{I}$) from fuzzy tuner by the error and error rate of plant oueut as a membership function of fuzzy theory. This fuzzy auto tuning algorithm for PID controller considerably reduced the overshoot and rise time as compared to any other PID controller tuning algorithms. And in real parametric uncertainty systems, it constitutes an appreciable improvement of performance. The significant property of this algorithm is shown by simulation

• 한국전자파학회논문지
• /
• 제14권3호
• /
• pp.253-259
• /
• 2003

본 논문에서는 4개의 다이폴 소자를 원형으로 배열하고 중심 축에 급전용 다이폴 소자를 설치한 원형 배열 다이폴 안테나의 전류분포, 방사 지향성 및 이득에 관한 기본 특성을 검토하고 있다. 이론해석으로서는 원형으로 배열된 다이폴 소자애 흐르는 미지 전류분포에 관한 연립 적분방정식을 유도하고 적분방정식의 해를 구분적 정현함수를 사용한 Galerkin의 모멘트 법으로 구하고 있다. 이론해석의 결과, 원주상에 배열한 인접하는 2개의 소자를 단락하면 원주반경 d=0.3lλ에서 7.8 dBi의 최대 전력이득이 얻어진다. 방사 지향성의 계산결과를 Preston 등의 결과와 비교하여 이론해석의 타당성도 확인하고 있다.

• Earthquakes and Structures
• /
• 제10권5호
• /
• pp.1067-1087
• /
• 2016

In this paper, a decoupled proportional-integral-derivative (PID) control approach for seismic control of smart structures is presented. First, the state space equation of a structure is transformed into modal coordinates and parameters of the modal PID control are separately designed in a reduced modal space. Then, the feedback gain matrix of the controller is obtained based on the contribution of modal responses to the structural responses. The performance of the controller is investigated to adjust control force of piezoelectric friction dampers (PFDs) in a benchmark base isolated building. In order to tune the modal feedback gain of the controller, a suitable trade-off among the conflicting objectives, i.e., the reduction of maximum modal base displacement and the maximum modal floor acceleration of the smart base isolated structure, as well as the maximum modal control force, is created using a multi-objective cuckoo search (MOCS) algorithm. In terms of reduction of maximum base displacement and story acceleration, numerical simulations show that the proposed method performs better than other reported controllers in the literature. Moreover, simulation results show that the PFDs are able to efficiently dissipate the input excitation energy and reduce the damage energy of the structure. Overall, the proposed control strategy provides a simple strategy to tune the control forces and reduces the number of sensors of the control system to the number of controlled stories.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
• /
• pp.284-287
• /
• 1999

A design of I-PDA controller for the third order plant by CDM is presented in this paper. Using CDM in the controller design procedures, the step responses of the controlled system with the I-PDA controller satisfied both transient and steady state response specifications without adjustment, and also satisfy the requirements of stability, faster response and robustness. The step responses of the controlled system using I-PDA controller are coiniciding to the ones using PIDA controller, and the integral gain of the I-PDA controller also equals to the prefilter gain of the PIDA controller designed by CDM. The effect of the disturbances can also be lastly eliminated. The fast step response of the controlled system can be obtained by reducing the equivalent time constant. MATLAB's numerical results show that the desired specifications of the controlled system using I-PDA controller is obtained. Furthermore, the results also show a good robustness that the desired performances of the controlled system have no significant changed when the plant parameters are varied.