• International Journal of Control, Automation, and Systems
• /
• 제4권6호
• /
• pp.669-681
• /
• 2006

In this work, a new method of design adaptive controllers for SISO systems based on multiple models and switching is presented. The controller selects the model from a given set, according to a switching rule based on output prediction errors. The goal is to design, at each sample instant, a predictive control law that ensures the robust stability of the closed-loop system and achieves the best performance for the current operating point. At each sample the proposed control scheme identifies a set of linear models that best characterizes the dynamics of the current operating region. Then, it carries out an automatic reconfiguration of the controller to achieve the best possible performance whilst providing a guarantee of robust closed-loop stability. The results are illustrated by simulations a nonlinear continuous and stirred tank reactor.

• 제어로봇시스템학회논문지
• /
• 제7권6호
• /
• pp.518-522
• /
• 2001

The main problem of the calibration of robots is to measure the position and orientation of a robot end effector. The calibration methods can be used as tool to improve the accuracy of robots without change of the arm or control architecture or robots. But such calibration methods require accurate measurements. Dynamic measurement of position and orientation provides a solution for this problem and improves dynamic accuracy by dynamic calibration of robots. This paper describes the development of the laser tracking system capable of determining the static and dynamic performance of industrial robots. The structure and systems components are presented and basic experimental results are included to demonstrated the instrument performance. The system can be applied to the remote controlled mobile robots as well s the calibration of robots.

• 제어로봇시스템학회논문지
• /
• 제10권8호
• /
• pp.718-725
• /
• 2004

The real-time industrial network, often referred to as fieldbus, is an important element for intelligent manufacturing systems. Thus, in order to satisfy the real-time requirements of field devices, numerous fieldbus protocols have been announced. But, the application of fieldbus has been limited due to the high cost of hardware and the difficulty in interfacing with multi-vendor products. Therefore, as an alternative to fieldbus, the computer network technology, especially Ethernet (IEEE 802.3), is being adapted to the industrial environment. However, the crucial technical obstacle for Ethernet is its non-deterministic behavior that makes it inadequate for industrial applications where real-time data have to be delivered within a certain time limit. Recently, the development of switched Ethernet shows a very promising prospect for industrial application due to the elimination of uncertainties in the network operation resulting in much improved performance. This paper focuses on the application of the switched Ethernet with cascade structure for industrial communications. More specifically, this paper presents an analytical performance evaluation of switched Ethernet with cascade structure, and a case study about networked control system.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2003년도 추계학술대회
• /
• pp.113-117
• /
• 2003

In the industrial field nowadays the information that needs to be handled arc increasing and requires faster speed in contrast with PLC(Programmable Logic Controller) or DCS(Distributed Control System) based control systems these days. The work environment these days are mostly based on PC, so the control systems are wanted in PC. At Fieldbus used automated systems performing distributed process control by PC performs and combines into one system in order to maximize the increase of productivity, lower the expense, planning constructing and maintaining the reliance of automation. These latest automation systems unites process, makes distributed control process able, and can control and supervise at remote PC.

• International Journal of Control, Automation, and Systems
• /
• 제4권3호
• /
• pp.281-292
• /
• 2006

The design and implementation of Generalized Minimum Variance control laws for nonlinear multivariable systems that can include severe nonlinearities is considered. The quadratic cost index minimised involves dynamically weighted error and nonlinear control signal costing terms. The aim here is to show the controller obtained is simple to design and implement. The features of the control law are explored. The controller obtained includes an internal model of the process and in one form is a nonlinear version of the Smith Predictor.

• 제어로봇시스템학회논문지
• /
• 제12권3호
• /
• pp.269-276
• /
• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents the vibration mechanism of an industrial robot which has flexible joints. The joint flexibility of the robot is modeled as a two-mass system and its dynamic characteristics are analysed. And some characteristics of the two-mass system, especially for the joint of industrial robots, such as disturbance, non-linearity and time-varying characteristics are studied. And finally, some considerations on controller design for the flexible joint of industrial robots are discussed.

• 대한산업공학회지
• /
• 제39권5호
• /
• pp.374-382
• /
• 2013

Robust design method developed by Genichi Taguchi has been very popular since the 1980s and there have been many academic and applied research works on this topic. However, college students and engineers in companies have had difficulty in understanding the method. This paper presents a procedure to implement the robust design method by an easy-to-execute paper helicopter experiment. A crossed array was adopted, which consists of a resolution IV fractional factorial design with 6 control factors and a factorial design with 3 noise factors. Three performance measures were analyzed; signal-to-noise ratio, mean, and standard deviation of the falling time of the paper helicopter that is to be maximized. Control-noise interaction plots are also given to evaluate the degree of the sensitivity of each level of the control factors to the noise factors. The procedure presented in this paper can be helpful to those who want to have basic knowledge in the robust design method.

• Industrial Engineering and Management Systems
• /
• 제3권1호
• /
• pp.1-11
• /
• 2004

This paper proposes a new algorithm for determining an optimal control input for production systems. In many production systems, completion time should be planned within the due dates by taking into account precedence constraints and processing times. To solve this problem, the max-plus algebra is an effective approach. The max-plus algebra is an algebraic system in which the max operation is addition and the plus operation is multiplication, and similar operation rules to conventional algebra are followed. Utilizing the max-plus algebra, constraints of the system are expressed in an analogous way to the state-space description in modern control theory. Nevertheless, the formulation of a system is currently performed manually, which is very inefficient when applied to practical systems. Hence, in this paper, we propose a new algorithm for deriving a state-space description and determining an optimal control input with several constraint matrices and parameter vectors. Furthermore, the effectiveness of this proposed algorithm is verified through execution examples.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
• /
• pp.1218-1221
• /
• 1993

The elevator group control systems are the control systems that manage systematically three or more elevators in order to efficiently transport the passingers. In the elevator group control system, the area-weight which determines the load biases of elevators is a control parameter closely related to the system performance. This paper proposes a fuzzy model based method to determine the are-weight. The proposed method uses a two-stage fuzzy inference model which is built by the study of area-weight properties and expert knowledge. The proposed method shows the more desirable results than the conventional method in the simulations that use real traffic data.

• 산업경영시스템학회지
• /
• 제33권1호
• /
• pp.33-40
• /
• 2010

Because sampling interval for data collection tends to be short compared with the overall processing time, in chemical process, instrumental process related tanks or furnace collected data have a significant autocorrelation. Insufficient control technique and frequent control actions cause unstable condition of the process. Traditional control charts which were developed based on iid (independently and identically distributed) among data cannot be applied on the existence of autocorrelation. Also unstable process is difficult to identity or diagnose. Because large-scale process has a lot of measurable variables and multi-step-structures among data, it is difficult to find relation between measurable variables and nonconformity. In this paper, we suggested an appicable model to diagnose the process and to find relation between measurable variables (CTQ) and nonconformity in the process having autocorrelation, unstable condition frequently, a lot of measurable variables, and multi-step-structure. And we applied this model to real process, to verify that the process engineers could easily and effectively diagnose the process and control the nonconformity.