With only the classical PID controller applied to control of a DC motor, good (target) performance characteristic of the controller can be obtained if all the model parameters of DC motor and operating conditions such as external load torque, disturbance, etc. are known exactly. However, in case when some of system parameters or operating conditions are uncertain or unknown, the fixed PID controller does not guarantee good performance, which is assumed with precisely known system parameters and operating conditions. In view of this and the robustness enhancement of DC motor control system, we propose a PID learning controller which consists of a set of learning rules for PID gain tuning and learning of an auxiliary input. The proposed PID learning controller is shown to drive the state of uncertain DC motor system with unknown system parameters and external load torque to the desired one world wide asymptotically. Computer simulation and experimental results are given to demonstrate the effectiveness of the proposed PID learning controller, thereby showing its superiority to the conventional fixed PID controller.

본 논문에서는 약간의 가정하에 리모트 제어용 모형 헬리콥터의 동역학방정식을 유도하였으며, 이를 토대로하여 헬리콥터의 자세안정을 위한 제어 알고리듬을 제안하였다. 제어이론으로서는 파라메타의 변화및 외란에 강인한 가변구조 제어이론을 활용하였다. 본 제어 알고리듬에서는 헬리콥터의 위치이동 제어에 대하여서는 다루지를 못하였으며, 단지 헬리콥터의 hovering 상태에서의 자세 안정화에만 촛점을 두어 제어 알고리듬을 제안하였다. 컴퓨터 모사를 통하여, 제안된 제어 제어 알고리듬의 타당성을 보였으며, 약 2-3초의 시간이 경과된 이후 자세가 안정화 됨을 볼 수 있었다.

모델 불확실성이 있고 n축 자유도(degree of freedom)를 갖고 있는 로봇 동작부(manipulator)에 대해서 위치 정보만을 이용하여 가변 구조 제어기(variable structure controller)를 설계하였다. 모델의 불확실성이 존재하는 경우에도 제어기에 사용되는 속도를 잘예측하기 위해 고이득 관찰기를 사용 하였으며 고이득 관찰기를 사용할때 발생할 수 있는 상태변수의 피킹현상(peak phenomenon)를 적게 하게 하기위하여 제어기의 값을 제한 (globally bounded)하여 제어기를 설계하였다. 부하(payload)의 범위만 알고 있는 2축 자유도를 갖는 로봇 동작부에 대해서 제안된 제어 방법에 따라 제어기를 설계하여 그 성능를 확인 하였다.

DC-DC converter with chopper is seen to have problems, such as, loop instability and degradation of transient response, due to the interaction between input filter and switching regulator. In this paper, the switching regulator consisting of input filter and double chopper is analyzed, and the state space model at continuous current mode and the transfer function between duty ratio of switching pulse and output voltage are derived. The controller in this paper is designed as feedforward(P) and feedback(PI) control scheme to minimize the variation of output voltage, and computer simulation results are presented to show the performance of the proposed controller.

This paper deals with the control problem under nonlinear boiler systems with noise, and input constraints. MCMBPC(Multivariable Constrained Model-Based Predictive Controller) proposed by Wilkinson et al.[10,11] is used and nominal model is modified in this paper in order to applied to nonlinear boiler systems with feed-forward terms. The solution of the cost function optimization constrained on input and/or output variables is achieved using quadratic programming, via singular value decomposition(SVD). The controller designed is shown to satisfy the constraints and to have excellent tracking performance via simulation applied to nonlinear dynamic drum boiler turbine model for 16OMW unit.

This paper shows a design and implementation of throttle valve controller for engine dynamometer system using fuzzy logic. Recently, we demanded the excellent measuring equipment so as to improve engine performance. The throttle valve control for engine dynamometer system is a very particular part in the engine control. Since the structure of engine dynamometer system is very complicated and has nonlinear elements which are influenced by disturbance of vibration, heating, cooling, and energy loss so on. In this paper, fuzzy logic control application have been successful in throttle valve control problem for engine dynamometer system in which the conventional control had difficulties dealing with the system. In this study, we propose a method that the control strategy uses Fuzzy Look-up table and normalization and obtained the satisfying result from realized throttle valve controller for engine dynamometer system.

A new algorithm is proposed for training the multilayer perceptrion(MLP) in pattern classification problems to accelerate the learning speed. It is shown that the sigmoid activation function of the output node can have deterimental effect on the performance of learning. To overcome this detrimental effect and to use the information fully in supervised learning, an objective function for binary modes is proposed. This objective function is composed with two new output activation functions which are selectively used depending on desired values of training patterns. The effect of the objective function is analyzed and a training algorithm is proposed based on this. Its performance is tested in several examples. Simulation results show that the performance of the proposed method is better than that of the conventional error back propagation (EBP) method.

With GPS carrier phase measurements from more than two antenna which attached to the vehicle, precise attitude can be easily obtained if the integer ambiguity included in carrier phase measurement is resolved. Recently some special products which use dual frequencies or has one receiver engine with multiple antenna are announced. But there are still strong requirements for the conventional single frequency off-the-shelf receiver. To meet these requirements, an efficient integer ambiguity resolution technique is indispensable. In this paper, a new technique to resolve integer imbiguity with single frequency receivers is proposed. The proposed method utilize the known baseline length as a constraint of independent elements of integer ambiguities. With this constraints, the size of search volume can be greatly reduced. Thus the true integer ambiguity can be easily determined with less computational burden and number of measurements. The proposed method is applied to real data to show its effectiveness.

In this paper, we designed a line CCD camera for a flying image, which is composed of a line CCD sensor(2048 cells) and a rotating mirror, and investigated its optical properties. We also made the 3-D image from the flying image which is made of 2-D image being juxtaposed to 1-D images obtained by the camera, and performed the calibration to acquire high precision 3-D data. As a result, we obtained the 3-D measurement system using the slit type of laser projector is available to measure the high precision shape of objects.

In this paper, we show that the rotor position of the bifilar-wound hybrid stepping motors for the closed-loop drives is detected by the phase current measurement. We propose an instantaneous phase current equation, which is the function of electrical angle, by modeling the stepping motor including motor driving circuits. We also analyze the relationship between phase current and rotor position from the computer simulation results. We show that the information about the rotor position is obtained from the phase current amplitude and its derivatives at the instance of ${\pi}/2$ electrical angle of excitation voltage.

This paper represents the design of a real-time image preprocessing system. The preprocessing system performs hardware-wise mask operations and thresholding operations at the speed of camera output single rate. The preprocessing system consists of the preprocessing board and the main processing board. The preprocessing board includes preprocessing unit that includes a $5\times5$ mask processor and LUT, and can perform mask and threshold operations in real-time. To achieve high-resolution image input data($20485\timesn$), the preprocessing board has a linescan camera interface. The main processing board includes the image processor unit and main processor unit. The image processor unit is equipped with TI's TMS320C32 DSP and can perform image processing algorithms at high speed. The main processor unit controls the operation of total system. The proposed system is faster than the conventional CPU based system.

The growing number of electronic components used in automobiles has given rise to problems concerning the increasing number, size and weight of the wiring harnesses. As an approach to resolve these problems, multiplexed wiring systems using automotive communication protocol such as Controller Area Network(CAN), Advanced PALMNET and J1850 have been developed by many automobile companies. In order to compare these protocols quantitatively, this paper presents the performance evaluation of CAN and Advanced PALMNET via discrete event simulation. Through numerous simulation experiments, several important quantitative performance factors such as the probability of a transmission failure, average system delay(data latency), and throughput have been evaluated.

This paper presents how nonlinear PID control algorithms can be applied on chemical processes for a more stable operation and perfect automation. A pass balance controller is designed to balance the exiting temperatures of a heater and a heat exchange network. The proposed controller has gain-varying integral action and deals with the operational constraints in an efficient manner. Also, the use of a PID gap controller is proposed to maximize energy saving and operation stability and to minimize operator intervention in operation of air fan coolers. The proposed controller adjusts the opening of a louver automatically in such a way that it keeps the air fan pitch position within the desired range. All these nonlinear PID controllers have been implemented on the distributed control system (DCS) for good reliability and operability. Operator acceptance was very high and the implemented controllers have shown good performance and high service factor still now on. The proposed methodology can be directly applied to similar processes without any modification.

In the water purification plant, chemicals are injected for quick purification of raw water. It is clear that the amount of chemicals intrinsically depends on water quality such as turbidity, temperature, pH and alkalinity. However, the process of chemical reaction to improve water quality (e.g., turbidity) by chemicals is not yet fully clarified nor quantified. The feedback signal in the process of coagulant dosage, which should be measured (through the sensor of the plant) to compute the appropriate amount of chemicals, is also not available. Most traditional methods focus on judging the conditions of purifying reaction and determine the amounts of chemicals through manual operation of field experts using Jar-test data. In this paper, a systematic control strategy is proposed to derive the optimum dosage of coagulant, PAC(Polymerized Aluminium Chloride), using Jar-test results. A neural network model is developed for coagulant dosing and purifying process by means of six input variables (turbidity, temperature, pH, alkalinity of raw water, PAC feed rate, turbidity in flocculation) and one output variable, while considering the relationships to the reaction of coagulation and flocculation. The model is utilized to derive the optimum coagulant dosage (in the sense of minimizing turbidity of water in flocculator). The ability of the proposed control scheme validated through the field test has proved to be of considerable practical value.

Coagulant feeding control is very important in the water treatment process. Coagulant feeding is related to the raw water quality such as turbidity, alkalinity, water temperature, pH and so on. However, since the process of chemical reaction has not been clarified so far, coagulant dosing rate has been decided by jar-test. In order to overcome the difficulty mentioned above, Fuzzy Neural Network to fuse fuzzy logic and neural network was proposed, and the scheme was applied to the automatic determination of coagulant dosing rate. This algorithm can automatically identify the if-then rules, tune the membership functions by utilizing expert's experimental data. The proposed scheme is evaluated by computer simulation and interfaced with coagulant feeder operated by magnetic flowmeter, control valve and PLC. It is shown that coagulant feeding according to real time sensing of water quality is very effective.