• Title/Summary/Keyword: Fuzzy 제어

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An Analysis of Saturation Headway at Signalized Intersections by Using Fuzzy Inference (퍼지추론을 이용한 신호교차로에서의 포화차두시간 분석)

  • Kim, Kyung-Whan;Ha, Man-Bok;Kang, Duk-Ho
    • Journal of Korean Society of Transportation
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    • v.22 no.1 s.72
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    • pp.73-82
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    • 2004
  • 신호 교차로에서 포화차두시간에 영향을 미치는 영향인자는 도로조건, 교통조건, 환경조건으로 분류된다. 이러한 요인들의 복합적인 관계가 포화차두시간에 영향을 미친다. 현재 포화교통류율은 이상적인 조건일 때의 포화차두시간을 산출하고, 이를 이용해서 기본 포화교통류율을 구하고, 여기에 좌 우회전, 차로폭, 경사, 중차량 보정계수을 고려함으로써 특정 차로군의 포화교통류율을 산정하고 있다. 포화차두시간에 영향을 미치는 인자들 중에서 정량적으로 나타내기 어려운 인자 즉, 퍼지적 성격을 가진 인자들은 고려하지 않고 있다. 따라서 본 연구에서는 퍼지 근사추론 방법을 이용하여 정성적 인자의 영향을 고려한 모형을 구축하였다. 모형의 입력자료는 강우조건과 주변밝기의 정도, 중차량 구성비의 언어적 표현를 사용하였다. 이러한 변수들에 대하여 설문조사를 통해서 퍼지집합의 멤버쉽함수를 설정하였으며. 이에 기초하여 교차로에서 각 조건별로 포화차두시간을 관측하였다. 이러한 현장 관측치를 바탕으로 퍼지 제어규칙을 설정하고 모형을 구축하였다. 모형의 평가는 추론치와 실측치를 비교함으로써 이루어 졌으며, 결정계수인 $R^2$와 평균절대오차(MAE)와 평균제곱오차(MSE)를 사용하여 분석한 결과 본 모형의 설명력이 높은 것으로 평가되었다. 본 연구의 과정에서 강우에 의한 교통용량 감소는 중차량 구성비가 클수록 주변밝기의 정도가 나쁠수록 더욱 큰 것으로 나타났으며 그 감소율은 5.3%에서 21.8%에 이르는 넓은 범위의 값을 보였고. 주변밝기 정도에 따른 교통용량 감소는 4.7$\sim$7.5% 수준으로 나타났다.

Development of a Dynamic Track Tensioning System in Tracked Vehicles (궤도차량의 동적 궤도장력 조절시스템 개발)

  • Seo, Mun-Seok;Heo, Geon-Su;Hong, Dae-Geon;Lee, Chun-Ho;Choe, Pil-Hwan
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.25 no.10
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    • pp.1678-1683
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    • 2001
  • The mobility of tracked vehicles is mainly influenced by the interaction between tracks and soil, so that the characteristics of their interactions are quite important fur the tracked vehicle study. In particular, the track tension is closely related to the maneuverability of tracked vehicles and the durability of tracks and suspension systems. In order to minimize the excessive load on the tracks and to prevent the peal-off of tracks from the road-wheels, the Dynamic Track Tensioning System (DTTS) which maintains the optimum track tension throughout the maneuver is required. It consists of track tension monitoring system, track tension controller and hydraulic system. In this paper, a dynamic track tensioning system is developed for tracked vehicles which are subject to various maneuvering tasks. The track tension is estimated based on the idler assembly model. Using the monitored track tension and con sidering the highly nonlinear hydraulic units, fuzzy logic controllers are designed in order to control the track tension. The track tensioning performance of the proposed DTTS is verified through the simulation of the Multi -body Dynamics tool.

Maximum Torque Control of IPMSM Drive with ALM-FNN (ALM-FNN에 의한 IPMSM 드라이브의 최대토크 제어)

  • Lee, Jung-Ho;Choi, Jung-Sik;Ko, Jae-Sub;Kim, Jong-Kwan;Park, Byung-Sang;Park, Ki-Tae;Chung, Dong-Hwa
    • Proceedings of the KIEE Conference
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    • 2006.07b
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    • pp.731-732
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    • 2006
  • The paper is proposed maximum torque control of IPMSM drive using adaptive learning mechanism-fuzzy neural network (ALM-FNN) and artificial neural network(ANN). For each control mode, a condition that determines the optimal d-axis current $i_d$ for maximum torque operation is derived. The proposed control algorithm is applied to IPMSM drive system controlled ALM-FNN and ANN, the operating characteristics controlled by maximum torque control are examined in detail. Also, this paper is proposed the analysis results to verify the effectiveness of the ALM-FNN and ANN.

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The control system of sludge amount inspection and discharge materials of outlet water and affiliated water-purification tank (오수/합병정화조의 배출물 제어시스템 연구)

  • 박주식;김건호;오지영;임총규;강경식
    • Proceedings of the Safety Management and Science Conference
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    • 2001.11a
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    • pp.193-202
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    • 2001
  • The individual rotten water purification tank recently discharges wastewater and sewage through the outlet without purification ability. The outlet water and affiliated water purification tank with microorganism cultivator tank cultivates microorganism and then drops the value BOD, COD of sewage and discharges the quality of water into the outlet. The blower and water pump operating continuously prompts the waste of energy and deterioration of equipment. Each room of deposition tank, foaming tank, microorganism cultivator tank is equipment with the sludge detection senses so it can detect the density of each room. The power-drive plant of the blower and water pump which ate the system cultivating the microorganism must be made as fuzzy controlization (If the sludge amount of each room become higher, the rate of operation of blower and water pump must heighten, on the contrary, in case of row sludge amount, the total handling amount and microorganism handling amount of each room of control. Tank reducing the rate of operation must be DB. At present, the blower amount in proportion to the sludge and oxygen demanding amount has to control. Each mom must be checked outlet level of the outlet, also each room must flow backward discharge materials, and must operate feed-back control until we want to be come as a below value of BOD/COD(10PPM ; KS).

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The Effectiveness of MOOS-IvP based Design of Control System for Unmanned Underwater Vehicles (MOOS-IvP를 이용한 무인잠수정 제어기 개발의 효용성)

  • Kim, Jiyeon;Lee, Dongik
    • IEMEK Journal of Embedded Systems and Applications
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    • v.9 no.3
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    • pp.157-163
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    • 2014
  • This paper demonstrates the benefit of using MOOS-IvP in the development of control system for Unmanned Underwater Vehicles(UUV). The demand for autonomy in UUVs has significantly increased due to the complexity in missions to be performed. Furthermore, the increased number of sensors and actuators that are interconnected through a network has introduced a need for a middleware platform for UUVs. In this context, MOOS-IvP, which is an open source software architecture, has been developed by several researchers from MIT, Oxford University, and NUWC. The MOOS software is a communication middleware based on the publish-subscribe architecture allowing each application to communicate through a MOOS database. The IvP Helm, which is one of the MOOS modules, publishes vehicle commands using multi-objective optimization in order to implement autonomous decision making. This paper explores the benefit of MOOS-IvP in the development of control software for UUVs by using a case study with an auto depth control system based on self-organizing fuzzy logic control. The simulation results show that the design and verification of UUV control software based on MOOS-IvP can be carried out quickly and efficiently thanks to the reuse of source codes, modular-based architecture, and the high level of scalability.

Forcasting of Real Time Traffic Situation (실시간 교통상황 예보)

  • 홍유식;진현수;최명복;박종국
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 2000.05a
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    • pp.292-297
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    • 2000
  • This paper proposes a new concept of coordinating green time which controls 10 traffic intersection systems. For instance, if we have a baseball game at 8 pm today, traffic volume toward the baseball game at 8 pm today, traffic volume toward the baseball game will be increased 1 hour or 1 hour and 30 minutes before the baseball game. At that time we can not predict optimal green time Even though there have smart elctro-sensitive traffic light system. Therefore, in this paper to improve average vehicle speed and reduce average vehicle waiting time, we created optimal green time using fuzzy rules and neural network. Computer simulation results proved reducing average vehicle waiting time which proposed coordinating green time better than electro-sensitive traffic light system dosen't consider coordinating green time.

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Hybrid PI Controller for Performance Improvement of IPMSM Drive (IPMSM 드라이브의 성능 향상을 위한 하이브리드 PI 제어기)

  • Nam, Su-Myeong;Lee, Jung-Chul;Lee, Hong-Gyun;Choi, Jung-Sik;Ko, Jae-Sub;Park, Gi-Tae;Chung, Dong-Hwa
    • Proceedings of the KIEE Conference
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    • 2005.04a
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    • pp.191-193
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    • 2005
  • This paper presents Hybrid PI controller of IPMSM drive using fuzzy adaptive mechanism(FAM) control. To increase the robustness, fixed gam PI controller, Hybrid PI controller proposes a new method based self tuning PI controller. Hybrid PI controller is developed to minimize overshoot and settling time following sudden parameter changes such as speed, load torque, inertia, rotor resistance and self inductance. The results on a speed controller of IPMSM are presented to show the effectiveness of the proposed gain tuner. And this controller is better than the fixed gains one in terms of robustness, even under great variations of operating conditions and load disturbance.

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A Study on the Driving Control for the Automated Guided Vehicle using Microprocessor (마이크로 프로세서를 이용한 무인운반차량의 주행제어에 관한 연구)

  • Kim, B.K.;Kim, J.T.;Kim, Y.S.;Oh, H.C.;Lee, H.K.;Ahn, D.S.
    • Proceedings of the KIEE Conference
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    • 1998.11b
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    • pp.432-434
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    • 1998
  • Recently, For the material transport is increased, the AGV(Automated Guided Vehicle) is the most important part in the industrial factory. So we treat the navigation control problem and experimental results using microprocessor. In navigation control, we have faced with velocity control problem related to guide path tracking problem. Carefully, In the straight line, the AGV moves at its high speed, but in the curve line, especially when the radian ratio is very big it is difficult to follow guide line. So, Using fuzzy controller we have simulated the guide path following AGV according to the varying velocity and experimented it with microprocessor.(Intel 80C196KC) Now, If we use the AGV industrial factory, we will improve the product and efficiency in spite of changing the factory environment.

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Moving Vehicle Tracking using Fuzzy Clustering (퍼지 클러스터링을 이용한 이동 차량 추적)

  • 양상규;이정재;소영성
    • Journal of the Korean Institute of Intelligent Systems
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    • v.6 no.4
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    • pp.92-101
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    • 1996
  • Due to I:he rapid increase of vehicles and poor availability of roads, traffic congestion problem is about to explode. To solve this problem, we need real time information about traffic flow to control traffic signals dynamically. Until now loop coil is the most prevalent sensor used for obtaining traffic flow information. However, it is not able to track individual vehicles which is essential in estimating the average vehicle speed. As a result, image sensors started to find their role in this problem domain. Several systems based on image sensors were proposed which assumes either gray level or color image sequence. In this paper, we propose moving vehicle tracking method based on fizzy clustering assuming a wlor image sequenc.

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A Study on Real-time Control of Bead Height and Joint Tracking (비드 높이 및 조인트 추적의 실시간 제어 연구)

  • Lee, Jeong-Ick;Koh, Byung-Kab
    • Transactions of the Korean Society of Machine Tool Engineers
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    • v.16 no.6
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    • pp.71-78
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    • 2007
  • There have been continuous efforts to automate welding processes. This automation process could be said to fall into two categories, weld seam tracking and weld quality evaluation. Recently, the attempts to achieve these two functions simultaneously are on the increase. For the study presented in this paper, a vision sensor is made, and using this, the 3 dimensional geometry of the bead is measured in real time. For the application in welding, which is the characteristic of nonlinear process, a fuzzy controller is designed. And with this, an adaptive control system is proposed which acquires the bead height and the coordinates of the point on the bead along the horizontal fillet joint, performs seam tracking with those data, and also at the same time, controls the bead geometry to a uniform shape. A communication system, which enables the communication with the industrial robot, is designed to control the bead geometry and to track the weld seam. Experiments are made with varied offset angles from the pre-taught weld path, and they showed the adaptive system works favorable results.