• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1799-1800
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• 2008

본 연구는 초중량물 핸들링로봇의 디지털 PI제어의 방법에 대하여 연구하는 목적을 갖는다. 6축 초중량물 로봇의 핵심요소인 2축과 3축만으로 구성되었으며, 제어기는 DSP를 사용하였다. DSP와 AC 서보 모터 드라이브간의 인터페이스 회로를 구성하여, PI제어기 알고리즘을 설계하여 직선보간 알고리즘에 적용하였다. 최종목적인 가반하중이 600Kg급 부하에도 강한 초중량물 핸들링 지능형 6축 로봇의 실현을 위해 원하는 경로를 부하의 영향에 받지 않는 고속.고응답성을 구현할 수 있는 2축 로봇제어에 대한 실험을 수행하였다. 위치.속도제어에 대한 알고리즘으로는 PID 제어기를 사용하였다. 본 연구의 의의는 초중량물 핸들링 로봇의 제어에 있어서 로봇의 설계 및 제작이 최적화되어 있다면 작은 부하용로봇의 제어와 크게 다를 바 없음을 보여주는데 있다.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.251-252
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• 2008

본 연구는 6축 초중량물 핸들링로봇의 제어 성능을 구현하기 위해 전체적이 로봇의 제어에 가장 중요한 요소인 2축과 3축만을 가진 2축으로 된 실험용 로봇을 설계 제작하고 모션 제어기를 직접 설계하여 드라이브를 토크모드로 설정하고 구동실험을 수행하였다. 제어기로는 DSP를 사용하였으며 이는 초중량물을 핸들링하기 위해서는 샘플링주기를 작게 하기 위함이다. 해 연산 실행 속도가 빠른 DSP를 이용하였다. DSP와 AC 서보모터 드라이브 간의 인터페이스를 설계 제작 하였으며, PI제어기 알고리즘을 설계하여 직선보간 알고리즘에 적용함으로써 최종목적인 가반하중이 600Kg급 부하에도 강한 초중량물 핸들링 지능형 6축 로봇의 실현을 위해 원하는 경로를 부하의 영향에 받지 않는 고속 고응답성을 구현할 수 있는 2축 로봇제어에 대만 실험을 수행하였다. 속도, 위치제어에 대한 알고리즘으로는 PID 제어기를 사용하였다. 본 연구의 의의는 초중량물 핸들링 로봇의 제어에 있어서 로봇의 설계 및 제작이 최적화되어 있다면 작은 부하용 로봇의 제어와 크게 다를 바 없음을 보여주는데 있다.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.59 no.1
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• pp.55-64
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• 2023

Gas turbine engines are widely used as prime movers of generator and propulsion system in warships. This study addresses the problem of designing a DS-based PID controller for speed control of the LM-2500 gas turbine engine used for propulsion in warships. To this end, we first derive a dynamic model of the LM-2500 using actual sea trail data. Next, the PRC (process reaction curve) method is used to approximate the first-order plus time delay (FOPTD) model, and the DS-based PID controller design technique is proposed according to approximation of the time delay term. The proposed controller conducts set-point tracking simulation using MATLAB (2016b), and evaluates and compares the performance index with the existing control methods. As a result of simulation at each operating point, the proposed controller showed the smallest in %OS, which means that the rpm does not change rapidly. In addition, IAE and IAC were also the smallest, showing the best result in error performance and controller effort.

• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.912-915
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• 1993

In this paper, the speed of single phase induction motor driven by full bridge inverter is controlled by a PID controller under condition of disturbance load and setpoint changes, and the current characteristics of the system is investigated to look for the good properties of A.C. motor torque through the results of experiment. From the experimental result, it is confirmed that the speed of single phase induction motor driven by full bridge series inverter can be smoothly controlled by an analog PID controller.

• Journal of the Korean Vacuum Society
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• v.19 no.4
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• pp.256-264
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• 2010

In this paper, a digital controller of magnetic bearing system for a high vacuum turbomolecular pump (TMP) is designed and examined. For stabilizing and providing damping in magnetic bearing, the digital PID controller is applied for each 5 control axes, and the inter-axis cross feedback controller is also applied to suppress low frequency vibration caused by gyroscopic moment of the rotor at high speed of rotation. The fabricated rotor-shaft has its first flexible natural frequency lower than maximum speed, about 614Hz, so the two lead filters are applied to increase damping of flexible mode. Notch filters with rotating frequency were selected to reduce vibration of the pump housing caused by unbalance load. The implemented controllers are verified by examination of frequency response and rotating test up to 40,000 rpm, which is higher than critical speed of backward flexible mode.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.1
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• pp.112-115
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• 2003

Robust control for servo control system in needed according to the highest precision of industrial automation. However, when a servo control system has an effect of disturbance, it is very difficult to guarantee the robustness of control system. As a compensation method solving this problem in this paper, Hybrid control method of Main controller(PIU)-Differential Supervisory controller is presented. Main controller is operated as a feedback controller. Differential Supervisory controller as a assistant controller is operated when state in unstable disturbance. The robust control function of Differential Supervisory controller is demonstrated by Speed control of Motor.

• Journal of IKEEE
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• v.18 no.2
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• pp.282-290
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• 2014

This paper presents the design of embedded electrical power control unit for Personal Electrical Vehicle(PEV). The embedded unit is designed using PIC18F8720 processor, 16Mb flash ROM, 32Mb SDRAM and signal condition circuits. The proposed PEV consists of 4KW in-wheel Brushless DC Motor(BLDCM), 3 phase voltage source inverter with the $180^{\circ}$ conduction space vector PWM method, PID speed controller and the embedded control unit. The PEV has mechanical manufacture of inverse 3 wheel system, which is applied by the in-wheel BLDCM and steering mechanism with tilting function. Also, the performances of the proposed embedded electrical power control unit are verified through the lab experiment and road driving test of PEV.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.11
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• pp.363-367
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• 2016

A test section of a supersonic wind tunnel was designed for the analysis of flow characteristics over a backward-facing step with Mach 1.0 slot injection in a supersonic flow of Mach 2.5. The cavity flow of a high-speed vehicle is very complex at supersonic speed, so it is necessary to do experiments using supersonic wind tunnels to verify numerical analysis methods. The previous 2D symmetrical nozzle was replaced with an asymmetrical nozzle. The inviscid nozzle contour was designed using Method of Characteristics (MOC), and the boundary layer thickness correction was reflected by experimental data from the wind tunnel. The results were compared with a CFD analysis. The PID control system was changed to be based on the change of tank pressure. This improved the control efficiency, and the run times of supersonic flow increased by about 1 second. The flow characteristics over a backward facing step with slot injection were visualized by a Schlieren device. This equipment will be used for an experimental study of the film cooling effectiveness over a cavity with various velocities, mass flows, and temperatures.

• Journal of Navigation and Port Research
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• v.39 no.6
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• pp.457-463
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• 2015

A gas turbine engine plays an important role as a prime mover that is used in the marine transportation field as well as the space/aviation and power plant fields. However, it has a complicated structure and there is a time delay element in the combustion process. Therefore, an elaborate mathematical model needs to be developed to control a gas turbine engine. In this study, a modeling technique for a gas generator, a PLA actuator, and a metering valve, which are major components of a gas turbine engine, is explained. In addition, sub-models are obtained at several operating points in a steady state based on the trial running data of a gas turbine engine, and a method for controlling the engine speed is proposed by designing an NPID controller for each sub-model. The proposed NPID controller uses three kinds of gains that are implemented with a nonlinear function. The parameters of the NPID controller are tuned using real-coded genetic algorithms in terms of minimizing the objective function. The validity of the proposed method is examined by applying to a gas turbine engine and by conducting a simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.475-478
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• 2004

In this paper, a magnet-type automatic pipe cutting machine that binds itself to the surface of the pipe using magnetic force and executes unmanned cutting process is proposed. During pipe cutting process when the machine moves around the pipe laid vertical to the gravitational field, the gravity acting on the pipe cutting machine widely varies as the position of the machine varies. That is, with same driving force from the driving motor the cutting machine moves faster when it climbs down the surface of the pipe and moves slower when it climbs up to the top of the pipe. To maintain a constant velocity of the pipe cutting machine and improve the cutting quality, the authors adopted a conventional PID controller with a feedforward effort designed based on the encoder measurement of the driving motor. It is, however, impossible for the encoder at the motor to measure the absolute position and consequently the absolute velocity of the cutting machine in the case where the slip between the surface of the pipe and wheel of the cutting machine is not negligible. As an attempt to obtain a better estimation of the absolution angular position/velocity of the machine the authors proposes the use of the MEMS-type accelerometer which can measure static acceleration as well as dynamic acceleration. The estimated angular velocity of the cutting machine using the MEMS-type accelerometer measurement is experimentally obtained and it indicates the significant slipping of the machine during the cutting process.