• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2005.05a
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• pp.265-269
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• 2005

본 논문에서는 최대 견인력 제어를 위해서 최소 차원 부하 토크 외란 관측기를 이용하여 점착력 계수를 추정하고 추정한 점착력 계수의 미분치를 PI 토크 제어하는 Anti-slip제어를 제안한다. 최소차원 부하 토크 외란 관측기는 회전자의 위치 정보와 토크 전류의 정보를 이용하여 부하 외란토크를 추정하고, 부하 외란 토크에 철도차량 상수를 이용하여 점착력 계수를 추정한다. 또한 부하토크외란 관측기는 구조가 간단하며, 시스템의 외란 및 각종 제어이득, 시스템의 상수 변화에 대해서도 견실한 견인력 제어 특성을 가지고 있다. 이와 같은 시스템의 모델링과 전동기 토크에 대한 회전자의 위치 정보를 이용하여 최소차원 부하 토크 외란 관측기의 상태변수인 점착력 계수를 추정하고, 추정한 점착력 계수의 미분치를 PI토크 Anti-Slip제어하여, 최대 견인력 제어가 되도록 하였다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.2
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• pp.8-15
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• 2000

This study presents an H$_{\infty}$ optimal controller synthesis by the frequency domain analysis of weighting function. The main purpose of our study is to visualize weighting function domains and open loop transfer function domains that satisfy robustness and performance. Also we aim to simplify the iterative algorithm for H$\infty$ optimal controller synthesis. We report that the designed regulator by the proposed method in this paper satisfies the desired specifications and performance in spite of the plant uncertainty variation at any operating point.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1769-1770
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• 2008

Type-2 퍼지 논리 시스템은 기존의 Type-1 퍼지 논리 시스템으로부터 확장된 개념으로서 언어적 불확실성에 대한 개념을 부곽시킨다. Type-2 퍼지 논리 시스템의 가장 큰 특징은 멤버쉽 함수에 Footprint Of Uncertainty(FOU)을 사용하여 불확실성을 표현한다. Type-2 퍼지 논리 시스템은 그것의 rule-base 안에서 최소한 한 개 이상의 Type-2 멤버쉽 함수(MF)를 포함한다. Type-2 퍼지 로직 제어기는 MF가 FOU를 포함하여 계산량이 많은 반면에 외란에 대하여 강인한 성격을 지닌다. 따라서 본 논문에서는 비선형성이 강한 볼빔 시스템에 Type-1과 Type-2 퍼지 로직 제어기를 설계하고 외란에 대하여 견실한 제어기를 보인다.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.160-165
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• 1989

This paper deals with the robust controller design of robotic manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach followed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with assumption that process is characterized by a linear model remaining time invariant during adaptation process. A computer simulation has been performed to demonstrate the performance of the designed control system in task coordinates for stanford manipulator with payload and disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.217-217
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• 2000

A decentralized robust EA(eigensoucture assignment) controller is designed for an active suspension system of a vehicle based on a full car model with 7-degree of freedom. Using overlapping decomposition, the full car model is decentralized by two half car models. For each half car model, a robust eigenstructure assignment controller can be obtained by using optimization approach. The performance of the decentralized robust EA controller is compared with that of a conventional centralized EA controller through computer simulations.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.5
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• pp.413-418
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• 2002

This paper proposed a feed-forward adaptive position controller that is robust for variable Inertia. The control system consists of PI Position controller, feed-forward and model reference adaptive control. A parameter g(t) of the feed-forward adaptive position controller is adapted by using both the reference model speed and position error. So it improves the transient response and reduces the settling time. And normalization function Is used to make linear adaptation time. The validity of the feed-forward adaptive controller is confirmed by simulation results.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.8 no.1
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• pp.46-52
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• 1994

In this paper, we implemented the variable speed controller of an induction motor by the Fuzzy control algorithms, which recently is invoking the remarkable interest. As the fuzzy controller is designed on the base of expert's knowlede and experience, it is difficult to expect the perfect control performance of fuzzy controller. Therefore, the adjustment techniques for optimization of scale factors were presented to design the robust fuzzy controller comparing with conventional PI control the usefullness of proposed fuzzy controller was showed by the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1456-1459
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• 1997

In this paper, a control system using robust H.inf. controller based on convex parametrization is presented for nonlinear system with uncertainty. accounting for the time delay, noise and linearization error by frequency analysis, the suboptmal controller is designed to meet robust stability and performance for uncertainty. The desinged control system is applied to a nonlimear boiler moderl to test its performances.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.139-144
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• 1993

In this paper, a robust reduced order adaptive controller is proposed based on Internal Model Control(IMC) structure for stochastic linear stable systems. The concept of gain margin is utilized to make the adaptive IMC controller robust. We prove the stability of the proposed adaptive IMC system for stable plants under the assumption that upper bounds for system orders are known. Simulation results show that the proposed method has good performance and stability robustness.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1063-1067
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• 1991

In this paper, we present a supervision and coordination level monitoring the adaptive controller and taking appropriate ,actions if malfunctions are detected. Supervision and coordination level are consist of start-up part and run-time part. The start-up part involves tasks for the configuration and the implementation of controllers, and the run-time part involves tasks for the supervision and coordination of the controllers in closed-loop operation. Also, we show how a supervision level and a coordination level can be designed and what basic elements should be included. Finally, we show the robustness of this scheme by experimental results for task model.