• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1068-1072
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• 1991

This paper presents a decentralized model reference adaptive control scheme for an interconnected continuous linear system composed of a number of single-input single-output subsystems in which outgoing interactions pass through the measurement channel and are subject to bounded external disturbance. The scheme can treat the unknown strength of interactions as well as the uncertainty of subsystems.

• Proceedings of the KIEE Conference
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• 1987.07b
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• pp.1213-1216
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• 1987

In this paper, the application of AMFC(adaptive model - following-control) algorithm to the D.C motor speed control is investigated by using the 68000 microprocessor. Computer simulation in discrete AMFC algorithm shows that output errors caused by the external input and the variation of parameters in D.C motor are converged to zero.

• Journal of Advanced Marine Engineering and Technology
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• v.19 no.3
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• pp.77-83
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• 1995

Recently, in the field of industrial servo-systems, several methods have been proposed for tracking the reference input fastly and finely without overshoot. These methods, however, are established under hypothesis that structure and parameters of the plant are known accurately and they are time invariant. In practice, it is difficult to obtain the values of plant's parameters accurately and usually plants change with time and operation conditions. In this paper a method to construct the nominal model tracking adaptive control system is proposed. The system is composed of the nomial model which produces a ideal response and the model tracking system with the fuzzy adaptive controller. If the actual plant is equal to the controlled object in the nominal model, the output of the plant is the same as that of the nominal model and the fuzzy adaptive controller becomes idle. However, when the plant changes, the fuzzy adaptive controller of the tracking system operates in order for the output of the plant to track the ideal response. Through the computer simulations under various conditions, it is confirmed that the proposed model tracking system is very effective.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.3
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• pp.369-374
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• 2010

Linear motors are easily affected by load disturbances, force ripples, friction, and parameter variations because there are no mechanical transmissions that can reduce the effects of model uncertainties and external disturbance. In this study, a nonlinear adaptive controller to achieve high-speed/high-accuracy position control of a two-axis linear motor is designed. The operation of this controller is based on a cross-coupling algorithm. Nonlinear effects such as friction and force ripples are estimated and compensated for. An enhanced cross-coupling algorithm is proposed for effectively improving the biaxial contour accuracy while achieving closed-loop stability. The proposed controller is evaluated by performing computer simulations.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1864-1865
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• 2006

무인지능형로봇 시스템에 있어서 자세의 정확도를 향상시키기 위한 많은 연구가 이루어져 왔다. 시스템의 자세 제어는 사용되는 모터의 위치 제어로 대응된다. 이와 같은 시스템은 운용 시에 충격 진동이 발생하게 된다. 이러한 충격 진동 외란을 잘 제거해야 요구되는 위치 정도로 제어를 수행할 수 있다. 로봇 제어 분야에서 불확실한 로봇에 대한 자세 제어 분야는 가장 기본적이면서 중요한 분야중의 하나이다. 이러한 문제를 다루기 위하여 계산 토크 방식에 기초한 선형 제어 기법이나 적응 제어 기법, 강인 제어 기법 등을 이용한 연구 결과들이 발표되고 있다. 그러나 그러한 기법은 일반적으로 로봇의 정확한 동력학식을 알아야 하며, 구현하기 복잡하다. 따라서 본 논문에서는 적응 규칙에 의하여 모델의 불확실성, 시스템의 변화, 외란으로 인해 발생하는 공칭 플랜트와의 오차를 보상하도록 제어 입력을 생성하는 내부 루프 부분과 공칭 플랜트 모델의 명령을 추종하도록 하는 제어 입력을 생성하는 외부 루프 부분으로 구성되는 방법인 외란관측기(Disturbance OBserver : DOB) 제어 알고리즘을 제안한다. 또한 프로세서의 신뢰성과 수치 연산 및 알고리즘의 빠른 처리를 위해 현재 사용 빈도가 높은 TI사의 DSP시리즈 중에서 부동 소수점 연산 기능을 가지면서 모터 제어에 적합한 TMS320C2000계열의 TMS320F2812을 사용하여, 운용 시 발생되는 진동 둥에 대한 외란 제거를 목적으로 한다. 본 논문은 규명된 시스템 모델식을 바탕으로 DOB 제어 시뮬레이션을 수행하고 PMSM 모터모델 시뮬링크 블록을 구성하여 검증된 외란 관측기 제어 알고리즘을 검증한다. 시뮬레이션으로 검증된 DOB 모터 자세 제어 알고리즘을 DSP에 적용하기 위해 코드변환하고 모터 실험 시스템에 실제 적용함으로써 타당성을 검증하여 상용 제어기로 실제 현장에 적용 가능함을 입증한다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.2
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• pp.1-7
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• 2000

In this paper, an adaptive control law for nonlinear systems represented by input-output models are proposed under the assumption that unknown system parameters are in a known compact and convex set. Contrary to the previous results, the compact and convex set is not restricted to a ball whose center is at the origin or convex hypercube. It is proven that the proposed parameter update rule produces a sequence of parameters which reside in the set and guarantees that the position, velocity, and acceleration error converges to zero as time goes to infinity. This theoretical result was justified through simulations.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.10
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• pp.34-43
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• 1990

An improved parameter adaptation and control law for robot manipulator are proposed based on a linearized parametric system equation and augmented error vectors. In view of the modeling error and parasitics with small time constants which inevitably introduced during modelling process, their effects on the robustness of the system performance are reviewed and as an conutermearsure, adaptation mechanism with low pass filter is proposed. Proposed parameter adaptation and control low assure the stability of the robot manipulator in the large without further assumption. Computer simulation shows its effectiveness of the proposed adaptation mechanism to improve the robustness of the system in presence of the parasitics in the system and superior performance for high speed operations make it an attractive option in application of the adaptive control field for robot manipulator.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.463-477
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• 1991

This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.

• Nuclear Engineering and Technology
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• v.29 no.6
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• pp.8-16
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• 1997

ONED94는 노심추적계산, 부하추종모사, 출력증감발 및 재기동 운전전략, 제논진동모사 및 제어봉 이동전략수립 등을 위한 전산 코드로, Westinghouse 형 노심에 대해서는 적용절차 및 방법이 이미 검증되어 노심관리용으로 사용되고 있으며, CE형 노심에 대해서는 CE형 노심핵설계체계를 이용한 단면적 자료생산에서 적응계산에 이르기까지 ONED94 모델 생산 방법과 절차는 확립된 상태에 있다. 이 보고서에서는 영광3호기 초기노심의 시운전 자료를 토대로 50, 80 및 100% 출력에서의 제논진동 및 출력증감발 모사계산을 수행하여 CE형 노심에 대하여 ONED94코드를 검증하였다.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.12
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• pp.1618-1624
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• 1988

In this paper, a robust discrete model reference adaptive controller is proposed using a generalized model reference adaptive algorithm for single-input single-output discrete systems. A signal dependent time-varying dead-zone is employed in a generalized adaptive control structure. This adaptive controller is shown to assure the boundedness of the signals of the system even in the presence of bounded external disturbance.