Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
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The Study on Dynamic Position Control base on Neural Networks, Image Processing and CAN Communication

신경회로망과 영상처리 및 CAN 통신기반의 동적 자세제어에 관한 연구

  • Kim, Gwan-Hyung (Department of Computer Engineering, Tongmyong University) ;
  • Kwon, Oh-Hyun (Department of Computer Engineering, Tongmyong University) ;
  • Sin, Dong-Suk (Department of Computer Engineering, Tongmyong University) ;
  • Byun, Gi-Sik (Department of Control & Instrumentation, Pukyung National University)
  • Received : 2013.10.01
  • Accepted : 2013.11.06
  • Published : 2013.11.30
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Abstract

Applications of dynamic position control are especially focused on cancellation of unknown disturbance against nonlinear dynamic plants. Control performance is technically dependent upon observation methodology of such disturbance signals. This paper presents a novel control strategy by using linear actuators based on CAN communication networks. Disturbance is measured from placing a ball on a flat plant and image processing technique is applied to observe dynamic position of a ball system. We devise a neural network based PI control system to realize robust control of the dynamic system.

동적인 자세제어에 대한 응용은 다양한 외란이 존재하는 비선형 플랜트에 발생한 외란을 제거하기 위한 모든 분야에 적용할 수 있다. 또한, 발생한 외란을 어떻게 계측하는가에 따라 제어 성능이 달라질 수 있다. 본 논문의 시스템의 구성은 CAN 통신을 기반으로 3개의 리니어 액추에이터(Linear Actuator)를 동적으로 제어하도록 하였으며, 플랜트의 외란은 수평 플랜트 위에 볼(ball)을 놓아 비선형적인 외란을 가하도록 하였다. 외란에 대한 계측은 영상처리(Image Processing)를 통하여 외란을 계측하여 플랜트를 제어하도록 하였다. 이러한 비선형적인 외란을 제거하기 위하여 본 논문에서는 비선형 시스템에 대하여 제어성능이 뛰어난 신경회로망(Neural Networks)을 활용하여 기존의 PI 제어를 보완하여 하여 더욱 강인한 제어성능을 제시하고자 한다.

Keywords

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