• 제목/요약/키워드: (backward) control

검색결과 348건 처리시간 0.032초

Stability Analysis and Proposal of a Simple Form of a Fuzzy PID Controller

  • Lee, Byung-Kyul;Kim, In-Hwan;Kim, Jong-Hwa
    • Journal of Advanced Marine Engineering and Technology
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    • 제28권8호
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    • pp.1299-1312
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    • 2004
  • This paper suggests the simple form of a fuzzy PID controller and describes the design principle, tracking performance, stability analysis and changes of parameters of a suggested fuzzy PID controller. A fuzzy PID controller is derived from the design procedure of fuzzy control. It is well known that a fuzzy PID controller has a simple structure of the conventional PID controller but posses its self-tuning control capability and the gains of a fuzzy PID controller become nonlinear functions of the inputs. Nonlinear calculation during fuzzification, defuzzification and the fuzzy inference require more time in computation. To increase the applicability of a fuzzy PID controller to digital computer, a simple form of a fuzzy PID controller is introduced by the backward difference mapping and the analysis of the fuzzy input space. To guarantee the BIBO stability of a suggested fuzzy PID controller, ‘small gain theorem’ which proves the BIBO stability of a fuzzy PI and a fuzzy PD controller is used. After a detailed stability analysis using ‘small gain theorem’, from which a simple and practical method to decide the parameters of a fuzzy PID controller is derived. Through the computer simulations for the linear and nonlinear plants, the performance of a suggested fuzzy PID controller will be assured and the variation of the gains of a fuzzy PID controller will be investigated.

신경회로망을 이용한 퍼지룰의 추론과 학습에 관한 연구 (A Study on Reasoning and Learning of Fuzzy Rules Using Neural Networks)

  • 이계호;임영철;김이곤;조경영
    • 한국통신학회논문지
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    • 제18권2호
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    • pp.231-238
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    • 1993
  • 퍼지제어룰은 일반적으로 시스템에 대한 전문오퍼레이터나 기술자가 갖고 있는 애매모호함을 포함하고 있는 제어지식을 시스템의 입 출력 분할에 의해 if-then이라는 언어적 룰로서 표현하는 것으로 전문오퍼레이터나 기술자의 제어지식 자체의 부정확과 룰의 불완전등으로 완전하게 표현한다는 것은 대단히 어렵다. 이러한 불완전한 룰의 정확도를 시스템 동작 후에도 연속적으로 높이기 위한 방법으로서 신경회로망에 의한 퍼지 추론과 학습을 제시한다. 이 방식은 시스템의 퍼지롤의 후건부를 층상신경회로망의 역전파(Back-propagation) 학습방법에 의한 정확도를 증진시키고, 전건부의 적합도를 연상기억방식에 의해 추론하는 방식으로서, 이 방식을 이용하여 한정된 구역 내에서 숙련된 기술과 지식이 필요한 차의 안전하고 신속한 정차를 위한 Auto-Parking Fuzzy Controller를 설계하고 시뮬레이션을 통해 그 타당성을 입증하였다.

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A Simultaneous Perturbation Stochastic Approximation (SPSA)-Based Model Approximation and its Application for Power System Stabilizers

  • Ko, Hee-Sang;Lee, Kwang-Y.;Kim, Ho-Chan
    • International Journal of Control, Automation, and Systems
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    • 제6권4호
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    • pp.506-514
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    • 2008
  • This paper presents an intelligent model; named as free model, approach for a closed-loop system identification using input and output data and its application to design a power system stabilizer (PSS). The free model concept is introduced as an alternative intelligent system technique to design a controller for such dynamic system, which is complex, difficult to know, or unknown, with input and output data only, and it does not require the detail knowledge of mathematical model for the system. In the free model, the data used has incremental forms using backward difference operators. The parameters of the free model can be obtained by simultaneous perturbation stochastic approximation (SPSA) method. A linear transformation is introduced to convert the free model into a linear model so that a conventional linear controller design method can be applied. In this paper, the feasibility of the proposed method is demonstrated in a one-machine infinite bus power system. The linear quadratic regulator (LQR) method is applied to the free model to design a PSS for the system, and compared with the conventional PSS. The proposed SPSA-based LQR controller is robust in different loading conditions and system failures such as the outage of a major transmission line or a three phase to ground fault which causes the change of the system structure.

엘보 인식에 의한 배관로봇의 실시간 위치 추정 및 후처리 위치 측정 알고리즘 (A Real-time and Off-line Localization Algorithm for an Inpipe Robot by Detecting Elbows)

  • 이채혁;김광호;김재준;김병수;이순걸
    • 제어로봇시스템학회논문지
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    • 제20권10호
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    • pp.1044-1050
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    • 2014
  • Robots used for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve inspection tasks within pipelines. Localization is an important factor for an inpipe robot to perform successful autonomous operation. However, sensors such as GPS and beacons cannot be used because of the unique characteristics of inpipe conditions. In this paper, an inpipe localization algorithm based on elbow detection is presented. By processing the projected marker images of laser pointers and the attitude and heading data from an IMU, the odometer module of the robot determines whether the robot is within a straight pipe or an elbow and minimizes the integration error in the orientation. In addition, an off-line positioning algorithm has been performed with forward and backward estimation and Procrustes analysis. The experimental environment has consisted of several straight pipes and elbows, and a map of the pipeline has been constructed as the result.

전자제어 엔진의 공기유량센서 유동구조 연구 (Flow Mechanism around Air Flow Sensor of Electronic Control Engine)

  • 이종춘;황성만;부정숙
    • Journal of Advanced Marine Engineering and Technology
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    • 제24권4호
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    • pp.486-493
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    • 2000
  • Flow mechanism around air flow sensor of electronic control engine, especially Karman vortex type, was investigated experimentally. The two-dimensional flow characteristics in the intermediate wake region behind a triangular vortex-generator respectively apex forward facing, apex backward facing and vertical flat plates following after apex forward facing(i.e vortex-flowmeter) were investigated at Reynolods number of $ReH=1.4\times10^4$; H is the width of a triangular vortex-generator. The vortex shedding frequency for wide Reynolds number from $7\times10^3$ to $2.1\times10^4$ was also surveyed. The velocity component was measured by X-type hot wire anemometer at 8H downstream from the bluff body. The coherent structure of the intermediate wake behind a bluff body was obtained by conditional phase average technique. As a result, it was verified that the vertical flat plates following after apex forward triangular vortex-generator make not only more linear relation between free stream velocity and vortex shedding frequency but also more periodic vortex in the vicinity of the center of wake.

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연속가변 추력기용 구동장치 및 부하시험장비 개발 (Actuator and load test system development for continuous variable thruster)

  • 김남진;김형권;박현호;임진완;서석훈;박익수
    • 한국추진공학회:학술대회논문집
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    • 한국추진공학회 2017년도 제48회 춘계학술대회논문집
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    • pp.401-405
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    • 2017
  • 연속가변 추력기는 비행체의 위치 또는 자세 변경 및 연소실 내부의 압력 조절을 위하여 정밀 추력 조절이 요구된다. 이를 위하여 연소실 내부의 노즐 목 근처에 설치된 핀틀 구조물을 앞/뒤로 움직여 추력을 조절하고, 핀틀 구조물을 움직이기 위하여 구동장치를 사용한다. 본 논문에서는 연속가변 추력기용 구동장치를 개발하였으며, 운용조건에서의 부하를 모사하기 위한 부하시험장비를 개발하였다. 또한, 개발된 부하시험장비를 이용하여 구동장치의 성능 시험을 수행하였다.

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근거리 수치사진측량에 있어서 렌즈왜곡의 직접 보정 (Direct Correction of Lens Distortions in Close-Range Digital Photogrammetry)

  • 안기원;박병욱;서두천
    • 한국측량학회지
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    • 제17권3호
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    • pp.257-264
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    • 1999
  • 본 연구는 근거리 수치사진의 카메라 렌즈방사왜곡의 보정에 있어서, 기존 상용 소프트웨어의 최소제곱법에 의한 좌표변환방법인 기하보정툴을 사용하지 않고, 주변환식으로는 카메라 검정자료에서 제공되는 고차다항식을, 역변환에 있어서는 Newton-Raphson의 비선형 방정식의근의 해법을 직접 사용하여 렌즈방사왜곡을 보정함으로써 기하학적 정확도가 최소제곱법에 의한 좌표변환방법에 비하여 약 0.04∼0.08화소 향상된 수치 사진화상을 얻을 수 있었다. 또한 기존 소프트웨어에 있어서는 고차다항식의 최소제곱법 적용을 위해서 동일한 경중률의 많은 기준점의 선정작업을 필요로 하나, 본 연구에서 제시한 기법은 이 작업이 필요 없으므로 작업의 효율성을 높일 수 있었다.

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임상 간호사의 교대근무 기간이 circadian rhythm 변화에 미치는 영향 (Effect of Shift Interval for the Clinical Nurse on the Circadian Rhythm)

  • 황애란;정현숙;임영신;이혜원;김조자
    • 대한간호학회지
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    • 제21권2호
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    • pp.129-149
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    • 1991
  • Circadian rhythm is entrained in the 24-hour time interval by periodic factors in the environment, known as zeitgeber. But most rotating work schedules are outside the range of the entrainment of the pacemaker timing the human circadian sleep - wake cycle. It has been postulated that physiological and emotional disturbances occur in most human functions when the circadian rhythm is disturbed. So application of circadian principles to the design of shift schedules can aid in maintaining the temporal integrity of the circadian system and thereby minimize for the shift worker any detrimental consequences of circadian disruption. This study was a quasi-experimental study to test the effect of shift intervals for the clinical nurse on the circadian rhythm. Twenty nurses newly employed in general units of two hospitals were selected as an experimental group and twelve college nursing students as a control group. Both groups were selected according to an established criteria using a purposive sampling technique. Ten subjects were assigned to a weekly shift group and another ten to a biweekly shift group engaged in a semi -continuous shift schedule(sunday off) with a backward direction, that is, morning -evening - night shift. The control group worked a morning shift for 42 days. Oral temperature rhythm, waking tim, sleep - wake cycle, fatigue, and mental performance were measured during the experimental period. The data collection period was from April 30, 1990 to June 10, 1990. MANOVA, paired t-test, ANOVA, and Student Newman Keuls method were used for statistical analysis. The results are summarized as follows. 1. Phase delay in the acrophase of temperature rhythm was shown according to the backward rotating shift. A complete adaptation to work on the night shift was achieved between the sixth and ninth day of the night shift. 2. There was no difference in either waking time or sleep- wake cycle according to the duration of the working day for every shift group. Significant difference was found in the waking time and the sleep -wake cycle for subjects on the morning, evening, and night shift in both of the shift groups(weekly shift group : λ=0.121, p<0.01, λ=0.112, p<0.01, biweekly shift group : λ=0.116, p<0.01, λ=0.084, p<0.01). 3. There was no difference in fatigue between the first working day and the last working day for the control group and for the biweekly shift group. In the weekly shift group, physical fatigue was significantly different for the first day and the sixth day of the night shift(t=-2.28, p<0.05). Physical fatigue and total fatigue on the first day of the night shift showed a significant difference among the control group, the weekly shift group, and the biweekly shift group(F=5.79, p<0.01, F=4.56, p<0.05). There was a significant difference between the shift groups and the control group(p<0.05), Physical fatigue, neurosensory fatigue and total fatigue on the last day of the night shift showed a significant difference among the control group, the weekly shift group, and the biweekly shift group(F=12.65, p<0.01, F=7.77, p<0.01, F=9.68, p<0.01). There was a significant difference between the shift groups and the control group(p<0.05). 4. No difference in mental performance was seen between the first day and the last day of work in each case. An arithmatic test on the first day of the night shift revealed a significant difference among the control group, the weekly shift group, and the biweekly shift group(F=3.79, p<0.05). There was a significant difference between the shift groups and the control group(p<0.05) . The digital symbol substitution test and the arithmetic test on the last day of the night shift showed a significant difference among the control group, the weekly shift group, and the biweekly shift group(F=3.68, p<0.05, F=5.55, p<0.01), and both showed a significant difference between the shift groups and the control group(p<0.05). Accordingly, this study showed that during night duty, the waking time, sleep- wake cycle, and fatigue increased and mental performance decreased compared with morning and evening duty. It was also found that the weekly shift group had a higher fatigue score on the sixth day of night duty as compared to the -first day, but the waking time, sleep- wake cycle, and mental performance revealed no difference for the duration of the night duty or between shift groups, and complete adaptation of temperature rhythm was achieved between the sixth and ninth day of night duty. It is possible to conclude from these results that for intermediate circadian type in a healthy young woman, a biweekly shift system is more compatible with the circadian timing system than weekly shift system.

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이진가중형 유체 디지털-아날로그 변환기를 이용한 고정도 미소유량 조절기 (Digital Microflow Controllers Using Fluidic Digital-to-Analog Converters with Binary-Weighted Flow Resistor Network)

  • 윤상희;조영호
    • 대한기계학회논문집A
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    • 제28권12호
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    • pp.1923-1930
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    • 2004
  • This paper presents digital microflow controllers(DMFC), where a fluidic digital-to-analog converter(DAC) is used to achieve high-linearity, fine-level flow control for applications to precision biomedical dosing systems. The fluidic DAC, composed of binary-weighted flow resistance, controls the flow-rate based on the ratio of the flow resistance to achieve high-precision flow-rate control. The binary-weighted flow resistance has been specified by a serial or a parallel connection of an identical flow resistor to improve the linearity of the flow-rate control, thereby making the flow-resistance ratio insensitive to the size uncertainty in flow resistors due to micromachining errors. We have designed and fabricated three different types of 4-digit DMFC: Prototype S and P are composed of the serial and the parallel combinations of an identical flow resistor, while Prototype V is based on the width-varied flow resistors. In the experimental study, we perform a static test for DMFC at the forward and backward flow conditions as well as a dynamic tests at pulsating flow conditions. The fabricated DMFC shows the nonlinearity of 5.0% and the flow-rate levels of 16(2$^{N}$) for the digital control of 4(N) valves. Among the 4-digit DMFC fabricated with micromachining errors, Prototypes S and P show 27.2% and 27.6% of the flow-rate deviation measured from Prototype V, respectively; thus verifying that Prototypes S and P are less sensitive to the micromachining error than Prototype V.V.

Nonsurgical correction of a severe anterior deep overbite accompanied by a gummy smile and posterior scissor bite using a miniscrew-assisted straight-wire technique in an adult high-angle case

  • Wang, Xue-Dong;Zhang, Jie-Ni;Liu, Da-Wei;Lei, Fei-fei;Zhou, Yan-Heng
    • 대한치과교정학회지
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    • 제46권4호
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    • pp.253-265
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    • 2016
  • In the present report, we describe the successful use of miniscrews to achieve vertical control in combination with the conventional sliding MBT$^{TM}$ straight-wire technique for the treatment of a 26-year-old Chinese woman with a very high mandibular plane angle, deep overbite, retrognathic mandible with backward rotation, prognathic maxilla, and gummy smile. The patient exhibited skeletal Class II malocclusion. Orthodontic miniscrews were placed in the maxillary anterior and posterior segments to provide rigid anchorage and vertical control through intrusion of the incisors and molars. Intrusion and torque control of the maxillary incisors relieved the deep overbite and corrected the gummy smile, while intrusion of the maxillary molars aided in counterclockwise rotation of the mandibular plane, which consequently resulted in an improved facial profile. After 3.5 years of retention, we observed a stable, well-aligned dentition with ideal intercuspation and more harmonious facial contours. Thus, we were able to achieve a satisfactory occlusion, a significantly improved facial profile, and an attractive smile for this patient. The findings from this case suggest that nonsurgical correction using miniscrew anchorage is an effective approach for camouflage treatment of high-angle cases with skeletal Class II malocclusion.