• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.101.4-101
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• 2002

I. Introduction ▶The PID(Proportional-Integral-Derivative) controller is widely used in the industry it can be implemented easily for a typical second order plant. ▶The parameters of PID controller should be adapted complicatedly if a plant is various or the load is present. ▶For solving the problem, many control techniques have been developed. ▶A major method is a hybrid Fuzzy-PID controller. But, in case of using this method, we can not obtain characteristic of rapidly response and not achieved compensation on disturbance. ▶Therefore, we will use compensator fuzzy controller a front Hybrid type fuzzy-PID controller...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.609-615
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• 2003

There were many papers on the bilateral teleoperation system. But a few papers dealt with the controller design method in the presence of uncertainties, disturbances and measurement noises. In this paper, we propose a robust controller design framework in teleoperation, which can overcome the compensation problem that will be defined. To prove the effectiveness of the method of proposed design, comparative simulation with the existing four channel design method was performed

• Journal of Power Electronics
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• 제17권2호
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• pp.464-475
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• 2017

This study examines a P+multi resonant-based voltage control for voltage harmonics compensation under the islanded mode of a microgrid. In islanded mode, the inverter is defined as a voltage source to supply the full local load demand without the connection to the grid. On the other hand, the output voltage waveform is distorted by the negative and zero sequence components and current harmonics due to the unbalanced and nonlinear loads. In this paper, the P+multi resonant controller is used to compensate for the voltage harmonics. The gain tuning method is assessed by the tendency analysis of the controller as the variation of gain. In addition, this study analyzes the slight voltage magnitude drop due to the practical form of the P+multi resonant and proposes a counter method to solve this problem by adding the PI-based voltage restoration method. The proposed P+multi resonant controller to compensate for the voltage harmonics is verified through the PSIM simulation and experimental results.

• 전력전자학회논문지
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• 제8권5호
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• pp.442-449
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• 2003

본 논문은 PQR 순시전력 이론을 이용하여 순시전압보상장치 (DVR)에서 기준보상전압을 결정하는 방법을 제시한다. 측정된 3상 단자 전압은 시간지연 없이 PQR 좌표계로 변환된다. PQR 좌표계의 기준전압은 단일한 직류값이므로 DVR의 전압제어기는 단순하고 쉽게 설계가 가능해 진다. 제안된 제어방식은 피드백 제어기나 피드포워드 제어기에 모두 적용될 수 있다. 본 논문에서는 피드포워드 제어기에 대하여 이론을 적용하였으며 실험 및 시뮬레이션으로 검증을 하였다.

• 한국정밀공학회지
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• 제16권11호
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• pp.47-54
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• 1999

Tool wear is one of major causes occurring defectives in NC machining. In this paper we developed an automatic tool compensation system for the NC lathe machining. The system compensates machining error without any help of operators whenever the specification of a part is out of a tolerance. The configuration of the automatic compensation system consists of a NC lathe, an autoloader, a sensor, and a PLC. The system is operated as follows. A workpiece loaded by the autoloader is machining on the NC lathe. Once the workpiece is machined to be turned to a part, it is moved onto the sensor to be measured. If the sensor detects a part out of tolerance, a tool compensation is made in the NC controller. The system gives a help in increasing the productivity by reducing occurrence of defective parts as well as by eliminating time for the tool compensation. Besides the productivity increase, the system calculates cumulative usage time of the tool and notices the tool replace time to a worker by an alarm signal. A case is introduced to show that the system can be applied effectively in a shop.

• 제어로봇시스템학회논문지
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• 제11권6호
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• pp.524-529
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• 2005

In this paper, a novel neural network compensation technique for PD like fuzzy controlled robot manipulators is presented. A standard PD-like fuzzy controller is designed and used as a main controller for controlling robot manipulators. A neural network controller is added to the reference trajectories to modify input error space so that the system is robust to any change in system parameter variations. It forms a neural-fuzzy control structure and used to compensate for nonlinear effects. The ultimate goal is same as that of the neuro-fuzzy control structure, but this proposed technique modifies the input error not the fuzzy rules. The proposed scheme is tested to control the position of the 3 degrees-of-freedom rotary robot manipulator. Performances are compared with that of other neural network control structure known as the feedback error learning structure that compensates at the control input level.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권1호
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• pp.68-74
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• 2008

In this paper, a novel neural fuzzy control method is proposed to control nonlinear systems. A standard PD-like fuzzy controller is designed and used as a main controller for the system. Then a neural network controller is added to the reference trajectories to form a neural-fuzzy control structure and used to compensate for nonlinear effects. Two neural-fuzzy control schemes based on two well-known neural network control schemes, the feedback error learning scheme and the reference compensation technique scheme as well as the standard PD-like fuzzy control are studied. Those schemes are tested to control the angle and the position of the inverted pendulum and their performances are compared.

• International Journal of Control, Automation, and Systems
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• 제4권5호
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• pp.567-574
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• 2006

This paper presents the hardware implementation of a neural network controller for a nonlinear system with a micro-controller unit (MCU) and a field programmable gate array (FPGA) chip. As an on-line learning algorithm of a neural network, the reference compensation technique has been implemented on an MCU, while PID controllers with other functions such as counters and PWM generators are implemented on an FPGA chip. Interface between an MCU and a field programmable gate array (FPGA) chip has been developed to complete hardware implementation of a neural controller. The developed neural control hardware has been tested for balancing the inverted pendulum while controlling a desired trajectory of a cart as a nonlinear system.

• Journal of Power Electronics
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• 제8권2호
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• pp.141-147
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• 2008

This paper deals with a new and improved control technique for shunt active filters (AF) used for compensating unwanted harmonic currents injected in the mains due to nonlinear varying loads. This work is motivated by the need to find a permanent solution to the rigorous hit and trial method for evaluating system parameters in an indirect control of AF. A fuzzy pre-compensated PI (Proportional-Integral) controller is used to fuzzify the reference DC voltage of AF to the controller input so that the overshoots and undershoots in its DC link voltage are minimized and the settling time is improved. A three-phase diode rectifier with R-L (Resistive-Inductive) load is used as a non-linear load to study the effectiveness of the proposed controller of the AF. Robustness to filter parameter variations, insensitivity to controller parameter variations, and transient response has been taken as performance evaluation parameters. The results are shown through simulations in Matlab using power system block sets to demonstrate the capability of the proposed controller of the AF.

• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.