• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.2
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• pp.55-64
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• 1990

This paper concerned about a study on the direct pole placement PID self-tuning controller design for DC servo motor control system. The method of a direct pole placement self-tuning PID control for a DC servo motor of Robot manipulator tracks a reference velocity in spite of the parameters uncertainties in nonminimum phase system. In this scheme, the parameters of classical controller are estimated by the recursive least square (RLS)identification algorithm, the pole placement method and diophantine equation. A series of simulation in which minimum phase system and nonminimum phase system are subjected to a pattern of system parameter changes is presented to show some of the features of the proposed control algorithm. The proposed control algorithm which shown are effective for the practical application, and experiments of DC servo motor speed control for Robot manipulator by a microcomputer IBM-PC/AT are performed and the results are well suited.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.174-181
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• 1997

A proposed hybrid self-tuning control scheme for single rod hydraulic cylinder which has varying loads is presented here. An adaptive controller is developed for the system that use feedforward and P feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the hybrid self-tuning controller with a constant gain P contro- ller clearly shows its superior ability in handling load changes in quiescent states.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2001.05a
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• pp.127-132
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• 2001

자기유변유체감쇠기를 이용한 반능동 제어 시스템은 최근에 개발되어 승용차의 승차감 향상을 위한 진동제어에 사용되고 있다. 본 연구에서는 바람, 지진, 파랑 등에 대한 대형구조물의 진동제어를 위한 MR 감쇠기의 적용성을 분석하기 위하여, 미국 토목학회에서 제안한 76층 건물의 풍하중에 대한 진동제어에 관한 Benchmark Problem에 대하여 수치모의 해석을 수행하였다. 연구결과로부터, 풍하중에 대한 고층 건물의 진동제어를 위하여 MR 감쇠기를 이용한 반능동 제어의 성능은 능동형 동조질량 감쇠기의 성능과 유사함을 확인할 수 있었다.

• Nuclear Engineering and Technology
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• v.27 no.6
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• pp.833-844
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• 1995

In self-tuning predictive control algorithm for steam generator is presented. The control algorithm is derived by suitably modifying the generalized predictive control algorithm. The main feature of the unposed method relies on considering the measurable disturbance and a simple adaptive scheme for obtaining the controller gain when the parameters of the plant are unknown. This feature makes the proposed approach particularly appealing for water level control of steam generator when measurable disturbance is used. In order to evaluate the performance of the proposed algorithm, computer simulations are done for an PWR steam generator model. Simulation result show satisfactory performances against load variations and steam flow rate estimation errors. It can be also observed that the proposed algorithm exhibit better responses than a conventional PI controller.

• Journal of KSNVE
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• v.8 no.3
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• pp.441-449
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• 1998

A self-tuning control scheme, incorporated with the simplified 1st-order ARMAX(Auto-Regressive Moving Average eXogenous) model, for single rod hydraulic cylinder which has varying dynamic characteristics is presented here. An adaptive controller is developed for the system that uses feedforward and optimal feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the self-tuning controller with a fixed gain proportional controller clearly shows its superior ability in handling load changes in quiescent states.

• Proceedings of the Korean Institute of Communication Sciences Conference
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• 1987.10a
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• pp.249-254
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• 1987

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.66-68
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• 2004

PID제어기를 플랜트 파라미터를 이용하여 구성하는 IMC-PID제어에 대해 연구한다. 특히 변하는 플랜트에 대해서는 자기동조(ST, Self-Tuning)를 사용하여 시스템을 식별하여 활용한다. 특히 실시간으로 개루프의 위상여유 및 이득여유를 모니터링하여 정해진 구역을 벗어나게 되면 식별된 시스템파라미터를 이용하여 IMC-PID제어기를 구성한다. 또 시간영역 지표로 과도한 오차가 발생하는 경우에도 제어기를 갱신함으로서 전체적으로 보면 견실 PID제어기 형태를 갖게 한다.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.3
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• pp.247-255
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• 1989

This paper proposes an error model with integral action and a pole-place-ment self-tuning controller for robot manipulators in task coordinates. The controller can reject the offset due to any load disturbance without a detailed description of the robot dynamics. The error model parameters are estimated by the recursive least square identification algorithms, and controller parameters are determined by the pole-placement method. A computer simulation study has been conducted to demonstrate the performance of the proposed control system in task coordinates for a 3-joint and 2-link spatial robot manipulator with payload.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.4
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• pp.306-311
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• 1996

This paper discusses the maintenance of the water level of steam generators at its programmed value. The process, the water level of a steam generator, has the nonminimum phase property. So, it causes a reverse dynamics called a swell and shrink phenomenon. This phenomenon is severe in a low power condition below 15 %, in turn makes the start-up of the power plant too difficult. The control algorithm used here incorporates a pole-assignment scheme into the minimum variance strategy and we use a parallel adaptation algorithm for the parameter estimation, which is robust to noises. As a result, the total control system can keep the water level constant during full power by locating closed-loop poles appropriately, although the process has the characteristics of high complexity and nonlinearity. Also, the extra perturbation signals are added to the input signal such that the control system guarantee persistently exciting. In order to confirm the control performance of a proposed pole-assignment self-tuning controller we perform a computer simulation in full power range.

• Proceedings of the KIEE Conference
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• 1986.07a
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• pp.212-214
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• 1986