• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.62-62
• /
• 2000

An auto-tuning PID controller which is adequate for temperature control is developed based on relay-control and pole-placement Using the critical frequency which is obtained from relay-control parameters of assumed model are identified. Pole/zero-placement PID controller is designed for the identified model. The desired pole/zeros are determined so that the closed-loop has overshoot free step response. The developed auto-tuning PID controller was successfully applied to the temperature control of RTP.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.61-64
• /
• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS32OC50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator. In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters are determined by the pole-placement method. Performance of self-tuning adaptive controller is illustrated by the simulation and experiment for a SCARA robot.

• 전기전자학회논문지
• /
• 제24권1호
• /
• pp.106-119
• /
• 2020

본 논문에서는 극 배치 기법을 활용하여 쿼드로터 시스템의 제어기법을 제안한다. 일반적으로 상태 궤환 제어기를 사용하여 제어된 시스템 성능을 개선하기 위해서는 많은 제어 이득 값 선정에서의 시행착오가 필요하다. 이러한 복잡성을 완화시키고, 체계적인 제어 이득 선정을 위해 쿼드로터의 폐루프 시스템을 분석한다. 시스템 성능을 개선시키기 위해 극 배치 기법을 활용한 제어 이득 결정 알고리즘을 제안한다. 제안된 제어기법은 실제 시스템인 쿼드로터에 적용하여 유효성을 입증한다.

• 제어로봇시스템학회논문지
• /
• 제13권6호
• /
• pp.574-580
• /
• 2007

This paper deals with LQR controller design method tor system having complex poles. The proposed method is capable of systematically calculating weighting matrices based on the pole's moving-range and the relational equation between closed-loop pole(s) and weighting matrices. The method moves complex poles to complex poles or two distinct real poles. This will provide much-needed functionality to apply LQR controller. The example shows the feasibility of the proposed method.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2000년도 추계학술대회 학술발표 논문집
• /
• pp.476-479
• /
• 2000

This paper deals with a robust pole placement method for uncertain linear systems. For all admissible uncertain parameters, a static output feedback controller is designed such that all the poles of the closed loop system are located within the prespecfied disk. It is shown that the existence of a positive definite matrix belonging to a convex set such that its inverse belongs to another convex set guarantees the existence of the output feedback gain matrix for our control problem. By a sequence of convex optimization the aforementioned matrix is obtained. A numerical example is solved in order to illustrate efficacy of our design method.

• Journal of Power Electronics
• /
• 제16권4호
• /
• pp.1346-1354
• /
• 2016

This paper proposes a design guideline for the feedback gain of the adaptive full-order observer in the speed sensorless control of induction machines. The performance of the adaptive full-order observer is dependent on its feedback gain. This paper presents a pole placement method for the observer feedback gain design to improve the estimation performance of the speed adaptive observer. In the proposed method, the observer poles can be chosen independently of the induction motor poles. Instead, they can be positioned according to the operating speed. An analysis and experimental results obtained with the proposed method reveals better performances under general operating conditions.

• 전기학회논문지
• /
• 제57권10호
• /
• pp.1708-1712
• /
• 2008

This paper describes a linear matrix inequality (LMI) approach to the design of robust low-order power system stabilizers (PSSs), which are used to damp out local-mode oscillations of synchronous generators. The performance of a PSS is expressed as the location of the closed-loop poles, and a single fixed-gain pole-placement controller is synthesized for a wide range of operating conditions. The synthesis results in simultaneous regional pole-placement stabilization. and is formulated as an LMI feasibility problem with a rank condition. A penalty method is applied to solve the rank-constrained LMI problem. Numerical experiments with a single-machine connected to an infinite bus system were performed to demonstrate the proposed method.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
• /
• pp.488-490
• /
• 1999

This paper describes the design of self-tuning speed controller for DC motor drive system using RLS(Recursive Least Squares) algorithm and Pole-Placement method. The model parameters, related to inertia and damping coefficient of motor, are estimated on-line by using RLS estimation algorithm. And a control signal is calculated by using pole placement method. Simulation and experimental results show that the proposed controller possesses excellent adaptation capability than a conventional PI/IP controller under parameter change.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 1996년도 추계학술대회 논문
• /
• pp.150-155
• /
• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using digital signal processors for robot manipulators. TMS3200C50 is used in implementing real-time adaptive control algorithms provide advanced performance for robot manipulator. In this paper an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm and controller parameters are detemined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• 한국산업융합학회 논문집
• /
• 제2권2호
• /
• pp.165-172
• /
• 1999

Crane operation for transporting heavy loads causes swinging motion at the loads. This sway causes the suspension ropes to leave their grooves and leads to possibility of serious damages. Generally crane is operated by expert's knowledge. Therefore, a satisfactory control method to supress object sway during transport is indispensible. The dynamic behavior of the crane shows nonlinear characteristics. when the length of the rope is changed the crane is time varying system and the design of anti-sway controller is very difficult. In this paper, the nonlinear dynamic model for the industrial overhead crane is derived. and the feedback gain matrix based on the pole-placement method is proposed to supress the swing motion and control the position of the crane. The performance of the controller for the crane model is simulated on the personal computer.