• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.250-253
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• 2005

A Programmable Automation Controller (PAC) has been developed by Turbotek Co., Ltd. The developed system has multi-domain functionality-including sequence control, motion control and HMI- on a single platform. The PAC also has a common development platform for the design and integration of multi-domain automated systems. Since hardware of the developed system has modular architectures, performance and specification of the controller are determined by combination of specific modules. The developed system employs de facto standards such as OPC interface that allow users to easily exchange data as part of networked multi-vendor systems.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.451-456
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• 2006

This paper is concerned with the dynamic modeling and controller design for a cylindrical shell equipped with MFC actuators. The dynamic model was derived by using Rayleigh-Ritz method based on Donnel-Mushtari shell theory. The actuator and sensors for the MFC actuator equations were derived based on pin-force model. The boundary conditions at both ends were assumed to be shear diaphragm. After calculating the natural vibration characteristics, the positive position feedback controller was designed to cope with the first two modes. To this end, the equations of motion were reduced to modal equations of motion by considering the modes of interest. The theoretical results show that vibrations can be successfully suppressed.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.34-41
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• 1999

This paper presents a HGA-based(hybrid genetic algorithm) optimal control strategy to control of the swing motion and the transfer of the overhead crane. The objective is to achieve the regulation of the fast swing motion or fast position control. The controller is based on the state feedback. The HGA-based optimal algorithm is applied to find optimal gains of the controller. Computer simulation and experiments were performed to demonstrate the effectiveness of the proposed control scheme.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.468-471
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• 1994

This paper presents the digital implementation of an optimal and robust VSS controller with sliding observer. Firstly, a discrete-time VSS control law which enables the system state to move into a sliding sector where the closed-loop system is stable is designed. Then optimal control theory is used to design an optimal sliding sector. Secondly, a sliding observer which provide robust state estimation against model-plant mismatches due to parameter uncertainties is designed for the sampled-data multivariable systems. Finally, modified sliding observer which effectively reduce chattering of state variables in state estimation was proposed. The proposed scheme was applied 10 a two degree of freedom inverted pendulum with passive joint to verify robust motion control. Computer simulation results confirm the viability of the proposed observer-based controller.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.75-80
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• 2007

This paper is concerned with the dynamic modeling and controller design for a cylindrical shell equipped with MFC actuators. The dynamic model was derived by using Rayleigh-Ritz method based on Donnel-Mushtari shell theory. The actuator and sensors for the MFC actuator equations were derived based on pinforce model. The boundary conditions at both ends were assumed to be shear diaphragm. After calculating the natural vibration characteristics, the positive position feedback controller was designed to cope with the first two modes. To this end, the equations of motion were reduced to modal equations of motion by considering the modes of interest. The theoretical results show that vibrations can be successfully suppressed.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.414-421
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• 2007

This paper presents a engine/brake integrated VDC(Vehicle Dynamic Control) system using neural network algorithm methods for wheel slip and yaw rate control. For stable performance of vehicle, not only is the lateral motion control(wheel slip control) important but the yaw motion control of the vehicle is crucial. The proposed NNPI(Neural Network Proportional-Integral) controller operates at throttle angle to improve the performance of wheel slip. Also, the suggested NNPID controller performs at brake system to improve steering performance. The proposed controller consists of multi-hidden layer neural network structure and PID control strategy for self-learning of gain scheduling. Computer Simulation have been performed to verify the proposed neural network based control scheme of 17 dof vehicle dynamic model which is implemented in MATLAB Simulink.

• Proceedings of the KIEE Conference
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• 2000.07e
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• pp.79-84
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• 2000

This paper presents an implementation of digital position control system for an induction motor vector drives by a direct torque control(DTC) using the 16bit DSP TMS320 F240. The DSP controller enable enhanced real time algorithm and cost-effective design of intelligent controller for motors which can be yield enhanced operation, fewer system components, lower system cost, increased efficiency and high performance. The system presented are stator flux and torque observer using current model that inputs are current sensing of motor terminal and rotor angle for a low speed operating area, two hysteresis controller, optimal switching look-up table, and IGBT voltage source inverter by fully integrated control software. The developed control system are shown a good motion control response characteristic results and high performance features using 2.2Kw general purposed induction motor.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.531-533
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• 1999

The main aim of this paper is to investigate the possibility of applying fuzzy control algorithms to a microprocessor-based servomotor controller which requires faster and more accurate response compared with many other industrial processes. In addition, this study deals with the control of the lateral motion of a mobile vehicle. A adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve control of the lateral motion of the vehicle.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.387-392
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• 1992

This paper presents a local trajectory generation method which is based on a sequence of reference posture-velocities and the efficient low level control algorithm which constructs the complete smooth curve from the trajectory specification. The reference trajectory generator(RTG) which is in between the local path planner(LPP) and the robot motion controller(RMC) generates a sequence of set-points for each path segments from the LPP and pass it to the RMC. The RMC controls the motions of vehicle which should follow the sequence. In the feedback controller of VMC, the method which compensates robot posture-velocity error correctly is used. These methods are implemented on indoor autonomous vehicle, 'ALIVE' mobile robot. The ALIVE mobile robot system is implemented on the 32bit VME bus system: the two VME CPU's are used for RTG and RMC, while the 80C196KC-based VME board is used for motor controller.

• Journal of Advanced Marine Engineering and Technology
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• v.26 no.5
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• pp.544-553
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• 2002

The recent amount of container freight continuously has been increased, but the low efficiency of container crane causes jamming frequently in transportation and cargo handling at port. It is required that the working velocity and safety are improved by control of moving the trolley as quick as possible without large overshoot and any residual swing motion of container at the destination. In this paper, a LQ controller for a container crane is proposed to accomplish an optimal design of improved control system for minimizing the swing motion at destination. In this scheme a mathematical model for the system is obtained in state space form. Finally, the effectiveness of the proposed controller is verified through computer simulation.