• 한국전자통신학회논문지
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• 제17권5호
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• pp.833-840
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• 2022

산업 현장에서 자동화 장비 및 모터의 정밀도가 요구되고 있고 전 세계 모터 시장 규모는 많이 증가하였지만, 국내 모터 기술은 해외 기술보다 뒤처져 있다. 본 논문에서는 모터의 기술 향상을 위해 PLC 서보 모터와 아두이노 스텝모터에 비선형 알고리즘을 적용하여 정밀도 안정도, 효율을 선형 알고리즘과 비교하였다. 비선형 알고리즘이 선형 알고리즘에 비해 모터의 최고 속도가 빨라 같은 구동 기준 소요 시간을 단축할 수 있었으며 곡률이 적어 정밀도가 향상되는 것을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.772-776
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• 1988

In quantized control systems, the control values can take only given discrete (e.g. integer) values. In case of dealing with the control problem on the discrete-time, final-stage fixed, quantized control systems with multidimensional performance functions, the first thing, new definition on noninferior solutions in these systems is necessary because of their discreteness in state variables, and the efficient search for those solutions at final-stage is unavoidable for seeking their discrete-time optimal controls to these systems. In this paper, to the quantized control problem given by the formulation of Halkin-typed linear control systems with two performance functions, a new definition on noninferior solutions of this system control problem and a heuristic effective search on these noninferior solutions are stated. By use of these concepts, two definitions on noninferior solutions and the algorithm consisted of 8 steps and attained by geometric approaches are given. And a numerical example using the present algorithm is shown.

• Wind and Structures
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• 제32권1호
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• pp.71-80
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• 2021

In steel cable bridges, the use of magnetorheological (MR) dampers between butt cables is constantly increasing to dampen vibrations caused by rain and wind. The biggest problem in the actual applications of those devices is to launch a kind of appropriate algorithm that can effectively and efficiently suppress the perturbation of the tie through basic calculations and optimal solutions. This article discusses the optimal evolutionary design based on a linear and quadratic regulator (hereafter LQR) to lessen the perturbation of the bridges with cables. The control numerical algorithms are expected to effectively and efficiently decrease the possible risks of the structural response in amplification owing to the feedback force in the direction of the MR attenuator. In addition, these numerical algorithms approximate those optimal linear quadratic regulator control forces through the corresponding damping and stiffness, which significantly lessens the work of calculating the significant and optimal control forces. Therefore, it has been shown that it plays an important and significant role in the practical application design of semiactive MR control power systems. In the present proposed novel evolutionary parallel distributed compensator scheme, the vibrational control problem with a simulated demonstration is used to evaluate the numerical algorithmic performance and effectiveness. The results show that these semiactive MR control numerical algorithms which are present proposed in the present paper has better performance than the optimal and the passive control, which is almost reaching the levels of linear quadratic regulator controls with minimal feedback requirements.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1149-1152
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• 1996

Recently visual servo control is an important feature of an intelligent robot system. In this paper, we presents a Kalman filter approach for estimation of the linear optic flow model which is utilized in the visual servoing of a mobile robot. The proposed method is also compared with the conventional least mean square method via computer simulation.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2008년도 추계학술대회 논문집
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• pp.166-168
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• 2008

This paper presents a vector control of Linear Induction Motor(LIM) based on a slip frequency control. And a Linear Induction Motor modeling included the end effect using circuit and equation method is also presented. We demonstrated through simulation the improvements achieved by the proposed scheme.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1080-1085
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• 1993

A nonlinear control algorithm for the depth control of underwater vehicles is presented. In order to consider the deadzone effect of the flow control valve, a nonlinear fuzzy logic controller (FLC) is synthesized and combined with a linear proportional-derivative-acceleration (PDA) controller, which is called, the PDA/FLC controller. And, to show the effectiveness of the PDA/FLC control system, it is compared with the linear PDA control system through computer simulation. It is found that the PDA/FLC control scheme is a suitable one to maintain the desirable depth of underwater vehicles with deadzone.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.93-98
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• 2001

This paper studies on the design of an ILQ(Inverse Linear Quadratic optimal control) looper control system for hot strip mills. The looper which is placed between each stand plays an important role in controlling strip width by regulating strip tension variation generated from the velocity difference of main work rolls. The mathematical model for looper is firstly obtained by Taylor's linearization of nonlinear differential equations, where it is given as a linear and time invariant state-space equation. Secondly, a looper servo controller is designed by ILQ control algorithm, which is an inverse problem of LQ(Linear Quadratic optimal control) control. By tunning control gain arbitration parameters and time constants, it is shown that the ILQ looper servo controller has the performance that makes well to follow desired trajectories of both strip tension and looper angle.

• 한국정보통신학회논문지
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• 제25권12호
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• pp.1817-1825
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• 2021

전방향 모바일 로봇은 로봇의 방향을 바꿀 필요 없이 어떤 방향으로든 움직일 수 있어 여러 응용 분야에서 적용이 쉽고 뛰어난 기동성을 제공한다. 전방향 모바일 로봇은 마찰과 같은 비선형 동적 성분을 가지고 있어 정확히 모델링하기에 어렵다. 본 연구에서는 이러한 비선형 성분을 제거하기 위하여 모바일 로봇의 역 다이내믹과 적분 슬라이딩 모드 제어기법을 사용하여 모바일 로봇 시스템을 선형화하고, 제안된 제어기법의 최적 성능을 구현하기 위하여 유전알고리즘을 사용하여 위치 및 속도 이득을 최적화한다. 성능 평가 결과 유전알고리즘을 적용한 제어기법이 임의의 이득을 갖는 제어기법보다 뛰어난 성능을 나타내었다. 그리고 제안된 역 다이내믹과 적분 슬라이딩 모드 제어기법은 다른 제어기법에서도 적용될 수 있으며, 특히 선형제어시스템 설계에 유용하게 사용될 수 있다.

• 한국산학기술학회논문지
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• 제13권10호
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• pp.4902-4909
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• 2012

본 논문에서는 TOU 요금제 기반에서 제어구간 설정방법을 사용한 건물 냉방시스템 실내온도 제어 알고리즘을 제안한다. 건물 실내온도를 최적제어하기 위한 제어구간 설정은 스위칭방법과 선형계획법을 사용하고 냉방시스템 사용요금은 TOU와 피크 요금을 포함하여 산정한다. 시뮬레이션을 통해 제안한 제어구간 설정방법을 적용하면 전력 사용에 따른 비용의 절감과 피크 전력 절감을 확인할 수 있다.

• 제어로봇시스템학회논문지
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• 제21권8호
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• pp.735-741
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• 2015

In this paper, we suggest a dimensional controller to produce a different thickness strip without adding production facilities at the same steel. We describe the model for the non-linear thickness and speed setup, and drive a variation of the speed and thickness with Talyor expansion. The control algorithm is composed of 8 steps and the transient condition is added in order to maintain a mass flow between stands. A simulator is developed in order to verify the algorithm, and includes a non-linear rolling model, the tension model, AGC model, the disturbance model, and so on. From the simulation results by disturbances, we show that the thickness, tension and looper angle are converged to the set condition when we change the rolling conditions.