• Journal of Power Electronics
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• 제7권2호
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• pp.159-173
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• 2007

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.160-165
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• 1989

This paper deals with the robust controller design of robotic manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach followed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with assumption that process is characterized by a linear model remaining time invariant during adaptation process. A computer simulation has been performed to demonstrate the performance of the designed control system in task coordinates for stanford manipulator with payload and disturbances.

• 대한기계학회논문집
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• 제10권6호
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• pp.889-897
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• 1986

본 논문에서는 Koren의 알고리즘을 밀링에 적용하는 ACCCNC시스템을 제안 CNC 시스템에 AC 시스템을 적용할 때 생기는 변수예측과 또 스텝 및 테이퍼의 두 가지 형 상모델에 대한 변수들의 거동 및 그 때의 생산성을 알아보고 또 이 시스템을 밀링에 적용할 때의 이들 시스템의 적용 가능성을 AC-unit 제어실험(control test)을 통하여 그 타당성을 검토하여 실제 CNC 시스템에 AC 시스템을 적용할 수 있도록 하는 ACC-CNC 시스템의 설계기준을 설정하여 시스템의 최적설계의 기초적인 자료를 얻고자 한다.

• 전기학회논문지P
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• 제51권1호
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• pp.18-27
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• 2002

This paper presents an implementation of digital high-performance speed sensorless control system of an induction motor drives with Direct Torque Control(DTC). The system consists of closed loop stator flux and torque observer, speed and torque estimators, two hysteresis controllers, an optimal switching look-up table, IGBT voltage source inverter, and TMS320C31 DSP controller board. The stator flux observer is based on the combined current and voltage model with stator flux feedback adaptive control for wide speed range. The speed estimator is using the model reference adaptive system(MRAS) with rotor flux linkages for speed turning signal estimation. In order to prove the suggested speed sensorless control algorithm, and to obtain a high-dynamic robust adaptive performance, we have some simulations and actual experiments at low(20rpm) and high(1000rpm) speed areas. The developed speed sensorless system are shown a good speed control response characteristic, and high performance features using 2.2[kW] general purposed induction motor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2424-2426
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• 2002

This paper proposes an adaptive control method of partially known system and shows its application result to control for two-wheeled WMR. The controlled system is stable in the sense of Lyapunov stability. To design a tracking controller for welding path reference, an error configuration is defined and the controller is designed to drive the error to zero as fast as desired. Moments of inertia of system are considered to be unknown system parameters. Their values are estimated using update laws in adaptive control scheme. The effectiveness of the proposed controller is shown through simulation results.

• 한국통신학회논문지
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• 제19권1호
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• pp.183-193
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• 1994

본 논문에서는 가정모드(assumed mode) 방법과 Lagrange 방식을 이용하여 유연성 로봇 매니퓰레이터의 동력학 방정식을 구하였으며, 조인트 구동기를 포함한 유연성 로봇 매니플레이터에 대한 제어기를 설계를 하였다. 제어기는 매개변수 추정부와 적응제어기로 구성하였으며, 매개변수 추정부는 RLS알고리즘을 이용하여 ARMA예측모델의 매개변수를 추정하도록 하였다. 적응제어기는 기준모델(reference)과 최소예측오차제어기(minimum prediction controller)로 구성하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 춘계 학술대회 학술발표 논문집
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• pp.279-282
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• 2003

본 연구에서 구현하고자 하는 선박의 회두각 제어의 경우 파도, 바람, 조류 등의 외란의 영향을 많이 받고 있을 뿐만 아니라 그 운동 특성 역시 비선형이므로 적절한 파라미터의 선정과 제어기 구성에 어려움이 따른다. 이의 해결을 위해 K. M Passino 등에 의해 비선형 특성을 지닌 기준 모델 적응 퍼지 알고리즘을 적용하여 제어기 구성을 시도한바 있고, 국내에서도 김종화 등에 의해 유사한 방법이 시도되어졌다. 본 연구에서는 이상의 시도에서 기준 모델에 의한 제어기 파라미터의 동정의 방법으로 사용한 M.I.T 룰 대신 일반적인 유전 알고리즘에 의해 퍼지 제어기의 파라미터를 동정하고자 한다. 유전 알고리즘에 기반한 기준 모델 적응 퍼지 제어기(MRGAFC: Model Reference Genetic Adaptive Fuzzy Controller) 알고리즘을 제안하며, 이의 검증을 위하여 화물선 회두각의 조향문제에 이를 적용하여 종래의 방법들과 비교를 수행할 것이다.

• 전기전자학회논문지
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• 제3권2호
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• pp.250-258
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• 1999

본 논문에서는 각 운동축들(자유도 또는 부시스템)간의 상호연관성에도 불구하고 자기부상식 미세구동기가 주어진 경로를 가능한 정밀하게 추종하도록 하는 비집중 적응제어기 설계가 제시되었다. 본 제어기는 알고있는 부시스템을 기반으로 하는 모델기준제어와 국부적응제어로 구성된다. 전자는 매니퓰레이터의 운동을 안정화시켜 기준모델을 따라가도록 하고, 후자는 간섭작용을 무기력화시키는 수준만큼 국부이득을 조정하여 전체시스템의 안정을 도모하고 연관성에 의해 유발되는 추정오차를 줄여준다. 실험결과를 통하여 제시된 기법이 기존의 PID제어기에 비해 추종성능과 외란제거 능력면에서 우수함을 보였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.720-723
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• 2005

Ship motion is a complex controlled process with several hydrodynamic parameters that vary in wide ranges with respect to ship load condition, speed and surrounding conditions (such as wind, current, tide, etc.). Therefore, to effectively control ships in a designed track is always an important task for ship masters. This paper presents an effective adaptive autopilot ships that ensure the optimal accuracy, economy and stability characteristics. The PID control methodology is modified and parameters of a PID controller is designed to satisfy conditions for an optimal objective function that comprised by heading error, resistance and drift during changing course, and loss of surge velocity or fuel consumption. Designing of the controller for course changing process is based on the Model Reference Adaptive System (MRAS) control theory, while as designing of the automatic course keeping process is based on the Self Tuning Regulator (STR) control theory. Simulation (using MATLAB software) in various disturbance conditions shows that in comparison with conventional PID autopilots, the designed autopilot has several notable advantages: higher course turning speed, lower swing of ship bow even in strong waves and winds, high accuracy of course keeping, shorter time of rudder actions smaller times of changing rudder direction.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.191-196
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• 2003

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.