• Journal of Advanced Marine Engineering and Technology
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• 제37권2호
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• pp.192-198
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• 2013

본 논문은 2축 구조를 가진 안정화 지향성 Pan-Tilt 시스템을 개발하기 위한 기초연구로서 2축 Pan-Tilt와 Pan-Tilt 구동 하드웨어 보드를 제작하고 표적 추적을 위한 제어기를 설계하는 내용이다. Pan-Tilt 시스템을 6 자유도 선박운동 시뮬레이터에 탑재하여 테스트 환경을 구축하고 RCGA를 이용하여 Pan-Tilt의 모델 매개변수를 추정한 다음, 추정된 모델과 RCGA에 기초하여 시뮬레이션과 실험을 수행함으로써 2 자유도 PID 제어기 동조의 유효성을 검토한다.

• 제어로봇시스템학회논문지
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• 제21권8호
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• pp.718-722
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• 2015

This paper proposes a fractional-order PID (Proportional-Integral-Derivative) control used electromagnetic strip stabilization controller in a continuous galvanizing line. Compared to a conventional PID controller, a fractional-order PID controller has integration-fractional-order and derivation-fractional-order as additional control parameters. Thanks to increased control parameters, more precise controller adjustment is available. In addition, accurate transfer function of a real system generally has a fractional-order form. Therefore, it is more adequate to use a fractional-order PID controller than a conventional PID controller for a real world system. Finite element models of a $1200{\times}2000{\times}0.8mm$ strip, which were extracted using a commercial software ANSYS were used as simulation plants, and Gaussian mixture models were used to find optimized control parameters that can reduce the strip vibrations to the lowest amplitude. Simulation results show that a fractional-order PID controller significantly reduces strip vibration and transient response time than a conventional PID controller.

• 대한전기학회논문지:전력기술부문A
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• 제48권10호
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• pp.1327-1334
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• 1999

The stabilization control of ball-beam system is difficult because of its nonlinearity and structural unstability. Futhermore, a series of classical methods such as the PID and the full state feedback controller(FSFC) based on the local linearizations have narrow stabilizable regions. At the same time, the fine tunings of their gain parameters are also troublesome. Therefore, in this paper, three improved design techniques of stabilization controller for a ball-beam system were proposed. These parameter tuning methods in the double PID controller(DPIDC), the FSFC and the a sliding mode controller(SMC) were dependent upon the Real Value Elitist Genetic Algorithm (RVEGA). Finally, by applying the DPIDC, the FSFC and the Real Variable Elitist Genetic Algorithm based Sliding Mode Control(RVEGA SMC) to the stabilizations of a ball-beam system, the performances of the RVEGA SMC technique were showed to be superior to those of two other type controllers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.184-187
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• 1996

In this paper, an algorithm for tuning gains of a PID controller is proposed. The proposed algorithm is composed of two stages. The first is a stage for Lyapunov function-based initial stabilization of an overall system and rough tuning gains of the PID controller. The other is that for fine tuning gains of the PID controller. All tunings are performed by using the well-known fuzzy logic-based tuner. The computer simulations are performed to show the validity of the proposed algorithm and results are presented.

• 전기학회논문지
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• 제67권7호
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• pp.871-877
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• 2018

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.525-528
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• 2005

The tracking antenna system must be always pointed to target moving vehicle. Especially, for an antenna mounted on a movable vehicle, it needs the stabilized antenna system. In this paper, two types of fuzzy controller were derived and applied to a data link antenna system and the altitude control of unmanned helicopter, respectively. A simplified Fuzzy-PID controller was designed for 2-axes antenna stabilization and tracking system and the performance was verified by simulations and experiments. Computer simulations were performed by Matlab and SIMULINK. A 2-Axes antenna (SeaTel 1898 model) was selected as test platform of this research. The antenna was modified by using two Blushless Direct Current motors and an embedded DSP controller. To verify the performance of designed antenna servo control system, the performance of the conventional PID controller and that of the Fuzzy-PID controller, designed by the same PID control gains, were compared.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.425-428
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• 2003

In this paper, the stabilization of an inverted pendulum system is studied. Here, the PID control method is adopted to make the system stable. In order to adjust the PID gains, a three-layer neural network, which is based on the back propagation method, is used. Meanwhile, the time for training the neural network depends on the initial values of PID gains and connection weights. Hence, the genetic algorithm Is considered to shorten the time to find the desired values. Simulation results show the effectiveness of the proposed approach.

• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.425-430
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• 2006

To meet an increasing demand for high performance in gun dynamic plant, both a precise and a fast response positioning are strongly required for the gun servo system. A mode switching control(MSC) scheme, which includes a fine stabilizing controller, fast positioning one and a switching function, is widely used to meet this requirement. Stabilization is performed through PID controller, while a time optimal control method is used for target designation. In this paper, a modified PTOS(Proximate Time Optimal Servomechanism) algorithm is derived so as to accommodate the damping term in the gun plant model. Also, applying a mode switching strategy, the bumpless transfer is made possible when the controller switches from PTOS to PID. To show the effectiveness of the overall control system, simulation results are given including the gun dynamics.

• 제어로봇시스템학회논문지
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• 제11권9호
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• pp.750-754
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• 2005

This paper deals with the design problem of multivariable PID controllers guaranteeing the closed-loop system stability and a prescribed $H_\infty$ norm bound constraint. We reduce the problem to the static output feedback stabilization problem. We derive a necessary and sufficient condition f3r the existence of PID controllers and we give an explicit formula of PID controllers. We also give an existence condition of PID controllers guaranteeing a prescribed decay rate. Finally, we give an LMI-based design algorithm, together with a numerical design example.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권3호
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• pp.134-141
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• 2003

PID controllers with constant gains have been widely used in various control systems due to its powerful performance and easy implementation. But it is difficult to have uniformly good control performance in all operating conditions. In this paper, we propose a nonlinear variable PR controller with immune feedback mechanism. An immune feedback mechanism is based on the functioning of biological T-cells, they include both an active term, which controls response speed. and an inhibitive term, which controls stabilization effect. Therefore, the proposed nonlinear PID controller is based on immune responses of biological. immune feedback mechanism which is the cell mediated immunity and In order to choose the optimal nonlinear PID controller games, we also propose the tuning algorithm of nonlinear function parameter in immune feedback mechanism. To verify performance of the proposed algorithm, the speed control of nonlinear DC motor are performed. Front the simulation results, we have found that the proposed algorithm is more superior to the conventional constant fain PID controller.