• Journal of the Institute of Electronics Engineers of Korea SC
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• 제37권5호
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• pp.22-33
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• 2000

Since the heavy-duty power manipulator generally has high ratio gear reducers at its joints, its dynamic characteristics is much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude when it is used as the slave manipulator in telemanipulation systems. This paper proposes a force reflecting and compliant control scheme for the heavy-duty power telemanipulator. The main advantage of the proposed scheme is that it provides a precise position and compliant control performance for a telemanipulator with control input saturation. The stability of the proposed scheme is analyzed and a series of experiments shows its performance.

• KIISE Transactions on Computing Practices
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• 제21권3호
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• pp.173-182
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• 2015

Motion control systems are widely deployed in various industrial automation processes. The motion controller, which is a key element of motion control systems, has stringent real-time constraints. The controller must provide a short and deterministic control message transmission cycle, and minimize the actuation deviation among motor drives. To meet these requirements, hardware-based proprietary controllers have been prevalent. However, since it is becoming difficult for such an approach to meet increasing needs of system interoperability and scalability, nowadays, software-based universal motion controllers are regarded as their substitutes. Recently, embedded motion controller solutions are gaining attention due to low cost and relatively high performance. In this paper, we designed and implemented an embedded motion controller on an ARM-based evaluation board by using Xenomai real-time kernel and other open source software components. We also measured and analyzed the performance of our embedded controller under a realistic test-bed environment. The experimental results show that our embedded motion controller can provide relatively deterministic performance with synchronized control of three motor axis at 2 ms control cycle.

• Journal of the Korea Institute of Information and Communication Engineering
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• 제18권3호
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• pp.503-509
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• 2014

In this paper, a PID controller with adaptive neural network compensator is proposed to control the formations of mobile robot. The control system is composed of a kinematic controller based on the leader-following robot and dynamic controller for considering the dynamics of the mobile robot. The dynamic controller is constituted by a PID controller and the adaptive neural network compensator for improving the performance and compensating the change in dynamic characteristics. Simulation results show the performance of the PID controller and the neural network compensator for the circular trajectory and linear trajectory. And it is verified that by improving the performance of a PID controller via the adaptive neural network compensator, the following robot's tracking performance is improved.

• Journal of Institute of Control, Robotics and Systems
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• 제4권6호
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• pp.772-779
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• 1998

본 논문에서는 강인한 비선형 예측제어기를 개발하여 연구용 원자로 벽면검사를 위한 수중로봇에 적용하여 보았다. 비선형 예측제어기는 먼저 적절한 함수 확장을 이용하여 시스템의 미래 출력 값을 예측하고, 예측값과 설정치와의 차이를 최소화시키는 제어입력을 구하여 시스템에 인가한다. 이러한 제어기에 의한 폐회로 동특성은 목적함수가 상태변수로 이루어진 경우는 항상 안정한 특성을 보이고 목적함수가 출력변수으로 이루어진 경우는 상대 계수가 4이하인 경우에 안정한 특성을 보인다. 이 제어기는 기존의 비선형 제어기가 적용 불가능한 시스템에도 적용 가능한 장점을 가지고 있다. 시스템의 불확실성이 큰 경우, 제어 안정도 및 제어 성능을 향상시키기 위하여 감독제어를 비선형 예측제어기에 포함시켰다. 이러한 제어기를 수중 벽면 주행로봇에 대한 모사실험에 적용한 결과 제어기의 강인함과 제어 성능 향상을 볼 수 있었다.

• The KIPS Transactions:PartD
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• 제10D권5호
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• pp.773-780
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• 2003

SecuROS(Secure & Reliable Operating System) prevents and blocks possible system cracking by implementing additional security functions in FreeBSD 4.3 operating system (OS) kernel, including access control, user authentication, audit trail, encryption file system and trusted channel. This paper describes access control technique, which is one of core technologies of SecuROS, introduces the implementations of DAC, MAC and RBAC, all of which are corresponding access control policies, and show security and results of performance measurement on the basis of application of access control policies. Finally, security and performance between conventional OS environment and environment adopting access control policy is described.

• Transactions of the Korean Society of Mechanical Engineers A
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• 제41권5호
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• pp.367-374
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• 2017

The goal of this study was to develop control algorithms to improve the steering performance of a 120-ton all-terrain crane. To accomplish this, a hydraulic steering system for the crane was modeled using AMESim software, and a PID steering control algorithm was designed in the MATLAB/Simulink environment. The performance of the designed controller was verified through multiphysics co-simulations based on a real-time simulator.

• The Transactions of the Korean Institute of Power Electronics
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• 제12권1호
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• pp.98-106
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• 2007

This paper represent improved on-line turn off angle control schemes for switched reluctance motors based on current control. For the purpose of finding the optimal commutation switching angle point with improved controller, it is utilized turn on and turn off position calculation with inductance vs. current vs. not linkage analysis method. The goal of proposed paper is the maximization of the energy conversion per stroke and torque ripple reduction and obtaining approximately flat-topped current waveform. The proposed control scheme is demonstrated simulation and on a prototype experimental system.

• Journal of Advanced Marine Engineering and Technology
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• 제38권1호
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• pp.39-47
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• 2014

In this study, 2 degree of freedom PID controller is added to the conventional feed-forward controller for the purpose of improving its limitations such as set-point of tracking performance and disturbance suppression performance in the conventional PID controller. And the controller parameters optimization as a Real Coded Genetic Algorithm (RCGA) is used. Simulation and experiments verify the performance of the controller.

• Journal of Bio-Environment Control
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• 제6권4호
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• pp.242-249
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• 1997

Environmental control operations have been considerably contributed to the reduction of labor cost in both plastic film and glass greenhouses since government supported projects were begun. However, some problems are still remaining on the optimal environmental control and excessive operation due to an inflexible software regulating ventilation gear - reducers. The unadjustable software caused the damage of ventilation system, resulting in heat stresses of crops. This study was performed to develop a ventilation software controlling the vent opening level, opening sequence, based on the wind direction, and control interval according to the difference between ambient and set- up temperatures. The software included a beeper system alarming urgent cases, while a manager was remote from the greenhouse. A compatible hardware with the software was also developed by using a low-cost diffused DSP controller.

• Journal of the Computational Structural Engineering Institute of Korea
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• 제12권2호
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• pp.243-249
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• 1999

지진력을 받는 건물의 응답을 능동적으로 제어하기 위해서는 건물의 응답을 측정하고, 이것을 바탕으로 제어력을 산정하여야 한다. 제어력의 산정 방법에는 여러 제어 알고리듬이 적용이 될 수 있는데, 2차 성능지수를 이용하는 LQ제어는 해석의 용이함과 제어의 효율성으로 인하여 널리 쓰이고 있다. 그러나, LQ제어에는 실시간으로 계측이 된 건물의 지반과의 상대 변위 및 속도를 필요로 하나 이러한 상태 변수를 계측하기가 매우 어려워 건물의 제어를 위한 적용에 한계가 있다. 따라서, 계측이 용이한 건물의 절대 가속도를 바탕으로 관측이 용이한 건물의 절대 가속도를 바탕으로 관측기를 이용하여 상태 변수를 추정하여 제어력을 산정하는 LQC 제어 알고리듬이 지진력을 받는 건물에 대한 실용적인 알고리듬이 될 수 있다. 본 연구에서는 이러한 LQC 알고리듬의 성능을 검증하기 위하여 능동제어추진기가 설치된 축소 1층 모형에 대한 해석 및 실험을 수행하였으며, 그 결과 LQC 알고리듬의 제어 효율을 확인할 수 있었다.