• 수산해양기술연구
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• 제59권1호
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• pp.44-54
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• 2023

In this study, the second-order Nomoto's nonlinear expansion model was implemented as a Tagaki-Sugeno fuzzy model based on the heading angular velocity to design the automatic steering system of a ship considering nonlinear elements. A Tagaki-Sugeno fuzzy PID controller was designed using the applied fuzzy membership functions from the Tagaki-Sugeno fuzzy model. The linear models and fuzzy membership functions of each operating point of a given nonlinear expansion model were simultaneously tuned using a genetic algorithm. It was confirmed that the implemented Tagaki-Sugeno fuzzy model could accurately describe the given nonlinear expansion model through the Zig-Zag experiment. The optimal parameters of the sub-PID controller for each operating point of the Tagaki-Sugeno fuzzy model were searched using a genetic algorithm. The evaluation function for searching the optimal parameters considered the route extension due to course deviation and the resistance component of the ship by steering. By adding a penalty function to the evaluation function, the performance of the automatic steering system of the ship could be evaluated to track the set course without overshooting when changing the course. It was confirmed that the sub-PID controller for each operating point followed the set course to minimize the evaluation function without overshoot when changing the course. The outputs of the tuned sub-PID controllers were combined in a weighted average method using the membership functions of the Tagaki-Sugeno fuzzy model. The proposed Tagaki-Sugeno fuzzy PID controller was applied to the second-order Nomoto's nonlinear expansion model. As a result of examining the transient response characteristics for the set course change, it was confirmed that the set course tracking was satisfactorily performed.

• 전력전자학회논문지
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• 제18권3호
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• pp.279-288
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• 2013

This paper proposes a improved speed control system for five-phase squirrel-cage induction motor(IM) injecting 3rd. current harmonic components with field oriented control (FOC) A five-phase IM drives present unique characteristics due to the additional degrees of freedom and also drives possess many others advantage compared with the traditional three-phase motor drive system, such as reducing a amplitude of torque pulsation at low frequency and increasing the reliability. In order to maximize the torque per ampere, the proposed motor has concentrated windings. The produced back-electromotive force is almost trapezoidal, and the motor is supplied with the combined sinusoidal plus third harmonic of currents. There is necessary to controlled 3rd harmonic current in order to high response characteristics. For presenting the superior performance of the proposed the speed control system, experimental results are presented using a 32-bit fixed point TMS320F2812 DSP with 1.5[kW] induction motor.

• Journal of Biosystems Engineering
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• 제30권3호
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• pp.172-178
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• 2005

Grading and sorting an indeterminate form of agricultural products such as sweet potatoes and potatoes are a labor intensive job because its shape and size are various and complicate. It costs a great deal to sort sweet potato in an indeterminate forms. There is a great need for an automatic grader fur the potatoes. Machine vision is the promising solution for this purpose. The optical indices for qualifying weight and appearance quality such as shape, color, defects, etc. were obtained and an on-line sorting system was developed. The results are summarized as follows. Sorting system combined with an on-line inspection device was composed of 5 sections, human inspection, feeding, illumination chamber, image processing & control, and grading & discharging. The algorithms to compute geometrical parameters related to the external guality were developed and implemented for sorting the deformed sweet potatoes. Grading accuracy by image processing was $96.4\%$ and the processing capacity was 10,800 pieces per hour.

• Fisheries and Aquatic Sciences
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• 제15권2호
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• pp.177-181
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• 2012

To understand the effects of lower pH levels due to elevated $CO_2$ and salinity, we designed and constructed a pH-control system that included automatic $CO_2$ infusion and measured the hatching rate of a crustacean model species, Artemia franciscana. The pH-control system was cost-effective and capable of performing animal tests in which pH fluctuated around $8.0{\pm}0.1$, with the temperature around $27{\pm}0.5^{\circ}C$. Hatching rate was observed under four different pH levels (7.0, 7.3, 7.6, and untreated control) combined with three salinity ranges (15, 25, and 35 ppt). The results demonstrated that lower pH levels led to decreased hatching rates regardless of salinity, and the minimum hatching rate was detected at pH 7.0 compared to the control (pH $8.0{\pm}0.1$), supporting the idea that OA has adverse effects on hatching rates and increases the risk of juveniles being introduced in the ecosystem. In contrast, salinity changes exhibited no synergistic effects with pH and had independent effects.

• 전자공학회논문지
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• 제52권5호
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• pp.3-9
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• 2015

기존의 무선통신시스템에서는 무선채널에서의 데이터 전송 성능 향상을 위해 시스템 각 계층의 특성에 적합한 재전송 방식을 사용한다. 이때 재전송 방식은 해당 계층에서 독립적으로 동작하며, 무선통신시스템의 종단 간 성능에는 관계없이 각 계층별로 정해진 파라미터에의해 동작하게 된다. 이와 같은 파라미터는 무선통신시스템의 종단 간 성능을 고려하지 않기 때문에 한정된 무선채널자원 및 네트워크 자원을 효율적으로 활용하기 위한 최적의 시스템 파라미터를 설계하기 어렵다. 따라서 각 서비스 별로 정해진 종단 간 QoS(Quality of Service) 요구사항을 만족시키기에 적합한 재전송 방식의 파라미터를 설계하기 위해서는 무선통신시스템의 종단 간 성능 분석이 필요하다. 본 논문에서는 다 계층 재전송 방식을 사용하는 무선통신시스템의 종단 간 성능을 수학적으로 분석하고, 모의실험을 통해 MAC(Medium Access Control) 계층과 전송계층에서 데이터 전송 성능을 도출한다. 또한 성능평가 결과를 바탕으로 사용자에게 제공되는 각 서비스 클래스의 특성에 적합한 재전송 방식과 파라미터 값을 설정하도록 한다. 모의실험 결과, HARQ(Hybrid Automatic Repeat reQuest)와 AMC(Adaptive Modulation and Coding)를 결합한 방식의 경우 지연에 민감한 서비스에 유리하며, ARQ(Automatic Repeat reQuest)와 AMC를 결합한 방식은 평균 전송지연시간에 영향을 받지 않는 서비스에 유리하다. 또한 TCP(Transmission Control Protocol)는 지연에 민감하지 않은 서비스에서만 사용 가능하다.

• 로봇학회논문지
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• 제2권1호
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• pp.1-8
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• 2007

This paper presents a PID automatic gain-tuning algorithm for the electronic throttle valve which is driven by wire. Since the system characteristics of position control for electronic throttle valve are so complicated that both the real time robustness and the manufacturing cost must be considered for mass production. To resolve this paradox, a kind of algorithm called RLS (Recursive Least Square) is adopted for the control of the ETB (Electronic Throttle Body). Using this algorithm, the PID gains can be adjusted automatically with the estimated system parameters. Furthermore, a pre-filter is supplemented for the sake of the robustness against the friction and loads. From the industrial requests for the system, the design specifications are decided as follows: the settling time should be less than 1sec and the overshoot should be kept below 3%. The results of the experiments based on this approach show that the high robustness can be achieved while the system stability is satisfied steadily. A parameter estimation scheme and a gain-tuning algorithm have been properly combined and utilized in this research and the effectiveness is verified through the real experiments.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2002년도 하계학술대회 논문집 Vol.3 No.2
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• pp.1107-1112
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• 2002

An easy elevator originated is an opened system to compare an existing equipment, and learning efficient is high as a wiring that the sequence control circuit is on and off. The structure of an equipment to be controled from the first floor to the fifth floor is constructed by a lamp to express the function of the open-close of the door according to the cage moving, to express the mechanical actuation of the forward-reverse break and motor of load and of hand-worked control component of Push-Button S/W, L/S and Relay. In order to act of the elevator function that these components connected, designed the auto program and the sequence control circuit. Consequently the process that these(1~5steps) operated the cage with an auto program of the elevator and the sequence control circuit is controled by the step of forward and reverse that the L/S1~L/S5 of sensor adjust function let posit, by the adjustable S/W1~S/W5 of PLC testing panel and the S/W1~S/W5 which installed on the transparent acryl plate of a frame. In here, improved apparatus is the learning equipment of combined use to study the principle and the technique of the originated sequence control circuit and the auto program of PLC.

• 대한안전경영과학회:학술대회논문집
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• 대한안전경영과학회 2000년도 춘계학술대회
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• pp.241-248
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• 2000

Increased complexity of products and their manufacturing processing demans higher quality control and monitoring than ever before. Therefore, flexible automatization or flexible manufacturing systems (FMS) offer numerous advantages over alternative manufacturing methods. In this state, a in-process monitoring is one of the important flexible automation system. And as use of NC and CNC machine tool has been increasing, cutting work has automating and it is necessary to develop the automatic production system combined a couple of machine tool. Thus, in this paper to search examination it can measure the tool wear and the tool life and can be more practical research subject.

• 대한안전경영과학회지
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• 제2권3호
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• pp.185-195
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• 2000

Increased complexity of products and their manufacturing processing demans higher quality control and monitoring than ever before. Therefore, flexible automatization or flexible manufacturing systems (FMS) offer numerous advantages over alternative manufacturing methods. In this state, a in-process monitoring is one of the important flexible automatino system. And as use of NC and CNC machine tool has been increasing, cutting work has automating and it is necessary to develop the automatic production system combined a couple of machine tool. Thus, in this paper to search examination it can measure the tool wear and the tool life and can be more practical research subject.

• 대한의용생체공학회:의공학회지
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• 제28권6호
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• pp.768-776
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• 2007

A new type of the fluid circulation blood pressure simulator was proposed to enhance the blood pressure simulator used for the development and evaluation of automatic sphygmomanometers. Various pressure waveform of fluid flowing in the pipe was reproduced by operating the proportional control valve after applying a pressure on the fluid in pressurized oil tank. After that, appropriate fluid was supplied by operating the proportional control valve, which enabled to reproduce various pressure wave of the fluid flowing in the tube. To accomplish this work, the mathematical model was carefully reviewed in cooperating with the proposed simulator. After modeling the driving signal as input signal and the pressure in internal tube as output signal, the simulation on system parameters such as internal volume, cross-section of orifice and supply pressure, which are sensitive to dynamic characteristic of system, was accomplished. System parameters affecting the dynamic characteristic were analyzed in the frequency bandwidth and also reflected to the design of the plant. The performance evaluator of fluid dynamic characteristic using proportional control signal was fabricated on the basis of obtained simulation result. An experimental apparatus was set-up and measurements on the dynamic characteristic, nonlinearity, and rising and falling response was carried out to verify the characteristic of the fluid dynamic model. Controller was designed and thereafter, simulation was performed to control the output signal with respect to the reference input in the fluid dynamic model using the proposed proportional control valve. Hybrid controller combined with an proportional controller and feed-forward controller was fabricated after applying a disturbance observer to the control plant. Comparison of the simulations between the conventional proportional controller and the proposed hybrid simulator indicated that even though the former showed good control performance.