• 문화기술의 융합
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• 제9권6호
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• pp.957-966
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• 2023

본 논문에서는 새로운 실시간 적응형 PID 온도제어 기법을 제안한다. 제어대상을 표현하는 모델을 도입하여 오버슈트가 발생하지 않도록 하는 기법이다. 오버슈트의 원인이 되는 과도한 적분을 막기 위해 적분 제어량이 실시간으로 모델의 열손실을 추종하도록 적분 이득을 조정한다. 기본적으로 비례 제어는 오버슈트를 유발하지 않는다. PID 제어에서 오버슈트의 발생 원인은 적분에서 기인한다. 기존의 PID 제어는 적분이 비례 제어에 종속되고 개인이 상수로 고정되었다. 그 결과 서로에게 부정합되는 두 이득을 적용하면 과도한 오버슈트가 발생할 수 있었다. 그러나 제안하는 적응형 제어는 적분 제어량이 항상 열손실을 초과하지 않도록 능동적으로 오버슈트를 제거한다. 따라서 제안하는 기법에 따라 튜닝 실험이 필요 없는 적응형 PID 제어를 실현할 수 있다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2012년도 춘계학술대회 논문집
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• pp.763-768
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• 2012

Active window system which can reduce the environmental noises, such as traffic noise and construction noise, from an open window into a room was proposed in the previous works. The key idea of the proposed active window system was that the control sources are approximately collocated with the primary noise source in terms of the acoustic power for global noise reduction throughout the interior room. Moreover, because it is important not to intrude into the living space in the building environment, no error sensors were used and an open-loop control method using control sources at the window frame and the reference sensors outside the room was used for the proposed system. The open-loop control gain was calculated by the interior room model assumed as the semi-infinite space, and the interior sound field was estimated by Rayleigh integral equation under the baffled window model assumption. However, windows with a finite thickness should were considered for the calculation of the open-loop control gain of the active window system since these are representative of most window cases. Therefore, the finite thickness window model based on the Sgard's model was derived and the open-loop control gain using the interior sound field estimated by that model was calculated for active window system. To compare the performance of these two models, a scale-model experiment was performed in an anechoic chamber according to noise source directions. Experimental results showed that the performance for the thickness window model is better than the baffled window model as the angle with respect to the perpendicular direction is larger.

• 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.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.199-207
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• 2002

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 is discussed. Experimental results using a 1/4-ear simulator are discussed. Also, a suspension ECU prototype targeting real implementation is provided.

• 드라이브 ㆍ 컨트롤
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• 제13권3호
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• pp.24-31
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• 2016

The performance characteristics of a dynamic control system are evaluated according to the transient and steady-state responses. The transient performance is the controllability of the output for the tracking of the reference or the ability to reduce or reject the effects of unwanted disturbances; alternatively, the steady-state performance is represented by the magnitude of the control error at the steady state. As the effects of the two performances on each other are reciprocal, a controller design that shows a zero steady-state error for the ramp input is uncommon because of the challenge regarding the achievement of an acceptable transient response. This paper proposes a PI+double-integral controller for the elimination of the steady-state error for the ramp input while a sound transient performance is maintained. The control-gain design procedure is described by the second-order response for the step input and the response of the error dynamics for the ramp input. The PI+double-integral controller is designed for the first-order transfer function that is derived from a system identification with the open-loop experiment data of the dc-motor. The simple structure of the proposed controller enables the adoption of a low-end microcontroller for the implementation of a real-time control. The experiment results show that the control performance is as effective as that of the simulation analysis for the operating point of linear system; furthermore, the PI+double-integral controller can be conveniently applied to the control system, which is desirable for the improvement of the steady-state error.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.19-24
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• 2003

A new method for designing critical control systems is proposed in this paper. The controller structure is chosen as a Davison type integral controller with an observer. The proposed method consists of two steps. First, the state feedback critical control system is designed using a quadratic performance index with tunable parameters. Second, the observer gain matrix is determined by the formal LTR procedure using a Riccati equation. Consequently, the search space can be reduced considerably compared with the conventional approach. Although the proposed method sacrifices a large freedom for the choice of controller structure provided by the principle of matching, the controller structure used in this paper is not excessively complex and can be used for most applications. An illustrative design example is presented.

• Earthquakes and Structures
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• 제6권2호
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• pp.217-235
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• 2014

In this paper, different feedback control strategies are presented for active seismic control using proportional-integral-derivative (PID) type controllers. The parameters of PID controller are found by using an numerical algorithm considering time delay, maximum allowed control force and time domain analyses of shear buildings under different earthquake excitations. The numerical algorithm scans combinations of different controller parameters such as proportional gain ($K_p$), integral time ($T_i$) and derivative time ($T_d$) in order to minimize a defined response of the structure. The controllers for displacement, velocity and acceleration feedback control strategies are tuned for structures with active control at the first story and all stories. The performance and robustness of different feedback controls on time and frequency responses of structures are evaluated. All feedback controls are generally robust for the changing properties of the structure, but acceleration feedback control is the best one for efficiency and stability of control system.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권6호
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• pp.433-439
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• 2004

The Helicopter Simulator System is non-linear and complex. Futhermore, because of absence of its accurate mathematical model, it is difficult to control accurately its attitudes such as elevation angle and azimuth one. Therefore, we proposed a Hybrid GA-PID WAVENET(Genetic Algorithm Proportional Integral Derivative Wavelet Neural Network)control technique to control efficiently these angles. The proposed Hybrid GA-PID WAVENET is made through the following process. First, the WAVENET fundamental functions are defined. And their dilation and translation values are adjusted by GA to construct the optimal WAVENET controller. Secondly, the proportional, integral, and derivative gain coefficients of PR controller are tuned optimally. Finally, WAVENET controller which has a good transient characteristic and GA-PE controller which has a good steady state characteristic is adequately combined in hybrid type. Through the computer simulations, it is proved that the Hybrid GA-PE WAVENET control technique has a more excellent dynamic response than PID control technique and GA-PID one.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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• pp.147-149
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• 1994

Binary control with integral COFB is presented to alleviate the chattering. Binary control system consists of the main loop and the external loop which transforms the gain of main loop smoothly, and can generate the continuous control input under the existence of the delay and the switching frequency limitation of the controller. Therefore, it has the properties of chattering alleviation, in addition, advantages of the conventional variable structure control. To confirm the validity of the developed controller, position control of brushless DC motor with binary controller as a position controller is performed.

• 한국공작기계학회논문집
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• 제16권5호
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• pp.1-6
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• 2007

This paper presents a new experimental Servo-Parameter tuning technique for a 6-axes articulated robot manipulator, especially considering robot's dynamics. First of all, investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer(DSA) is performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function can be obtained. In turn, the integral gain of a servo controller can be found out by using the integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller can be obtained by using the Bode plot of the closed loop transfer function. Using the experimental gain tuning technique proposed in this paper, the testing linear motion of DR6-II robot has been shown to be more accurate rather than the motion with a conventional(empirical) gain tuning technique in Doosan Mecatec Co., Ltd., by improving the dynamic response of the robot as well as synchronizing each joint velocity according to the positional command of an end-effector.