• Journal of Mechanical Science and Technology
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• v.17 no.1
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• pp.105-113
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• 2003

This paper proposes a systematic design methodology for the Takagi-Sugeno (TS) model based fuzzy state feedback control system with multi-objectives. In this investigation, the objectives are set to be guaranteed stability and pre-specified transient performance, and this scheme is applied to a nonlinear magnetic bearing system. More significantly, in the proposed methodology, the control design problems that consider both stability and desired transient performance are reduced to the standard LMI problems. Therefore, solving these LMI constraints directly (not trial and error) lead to a fuzzy state-feedback controller such that the resulting fuzzy control system meets the above two objectives. Simulation and experimentation results show that the Proposed LMI-based design methodology yields not only maximized stability boundary but also the desired transient responses.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1309-1314
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• 2003

The high precision positioning mechanism is used in various industrial fields. It is used in semiconductor manufacturing line, test instrument, Bioengineering, and MEMS and so on. This paper presents a positioning mechanism with dual servo system. Dual servo system consists of a coarse stage and a fine motion stage. The course stage is driven by VCM and the actuator of fine stage is the PZT. The purposes of dual servo system are stability, higher bandwidth, and robustness. Lead compensator is applied to this control system, and is designed by PQ method. Designed compensator can improve property of positioning mechanism.

• Journal of KSNVE
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• v.8 no.5
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• pp.914-921
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• 1998

Combusion instability due to thermoacoustic feedback in a ducted combustor usually excites severe noise and vibration, which could lead to result in the failure of the system or environmental dispute. In the present study, an active noise control(ANC) method with an adaptive algotithm is hired to suppress instability which has very discrete behavior in the frequency domain. Especially a feedback system is composed to evade hot environment of the combustor, and as a preliminary, the performance and stability of the controller is chekced by simulating the real situation with harmonic waves. Application to the real combustor showed serious reductions in sound pressure level by 20∼30 dB. It was also shown that the selected control system was very stable and effective.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.86-89
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• 1992

One of the most difficult problems in depth control for underwater vehicle is the effect of seaway disturbance. One component of the seaway forces is of large magnitude with a relatively narrow-band, first order component. The other component is generaly of somewhat smaller magnitude, second order component. Since the magnitude of the first order component is generally much greater than the compensating force that can be generating by the planes, it is undesirable for the controller to generate a control command. In this paper, we disigned adaptive notch filtering system using filter bank structure. Energies of each band-passed signal are obtained by MA(Moving Average) method and compared to produce center frequency. By adapting this parameter to notch filter, 1st order seaway disturbance can be removed, which lead to the improvement of automatic depth control system.

• Journal of the Korean Society for Precision Engineering
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• v.6 no.3
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• pp.32-45
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• 1989

The positioning accuracy of robots depends upon a forward kinematics which relates the joint variables to the orientation and position of the robot extremity in the absolute coordinate system. The relationship between two connective joint coordi- nates of a robot, which is the basis of the kinematics, is defined by 4 Denavit-Hartenberg parameters. But manufacturing errors in machining and assembly process of robots lead to disctrepancies between the design parameters and the physical structure. Thus, improving the positioning accuracy of robots reguires the identification of the actual link parameters of each robot. In this study, the least-squares method is used to calibrate the link parameters and off-line parameter calibration software is developed. Computer simulation is done to study the dependence of the calibration performance upon the DOF of the robot and number of acquired data set used in the least-squares method. 3 DOF Robot/Controller and specially designed 3D coordinate measurer is made and experiment is carried out to verify the theoretical and computational analysis.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.452-457
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• 1999

The recent control system has been changed into the type of PLC(Programmable Logic Controller) control. Up to now, systematic approach of PLC programming or control logic design is not suggested. In this study, the design process of the control logic is systematized and concrete process in each step is suggested. This systematized approach lead developer to be convenient to implement control system. When some error is occurred in the system, this approach enable the developer to analyze the reason of error rapidly and the system is amended according to systematic information of the analysis. The example of control system implementation following this approach is introduced.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.31 no.10
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• pp.840-847
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• 2007

This Paper focuses on modeling and simulation to analyze the characteristic of hybrid vehicle. The system includes a proton exchange membrane fuel cell(PEMFC), photovoltaic generator(PV), lead-acid battery, motor, vehicle and controller. Main electricity is produced by the PEMFC and battery to meet the requirements of a user load. When vehicle is parked in a sunny place, extra power is generated by the photovotaics and is charged in a battery for next drive. Further we evaluate usefulness of this hybrid vehicle by using ADVISOR - the advanced vehicle simulator written in the Matlab/Simulink environment. According to simulation results, the extra power obtained by photovoltaics which have been explored in nature conditions can help to reduce the electrical load of PEMFC and increase the efficiency (over 21 %).

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.380-380
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• 2000

We have developed a design/analysis tool for use with Mat lab whick is named as "Parametric Robust Control and Identification(PROCI)". The tool is composed of three parts: Part i) consists of the identification of the continuous time transfer function by using either time domain input-output data or frequency response data, which might be experimentally obtained. Part ii) is the CDM synthesis of classical controller such as PID, Lead/Lag compensators. In part iii), the analysis of robustness of overall system can be dealt with. This tool allows us to analyze completely most of robustness issues with respect to the interval uncertaintyncertainty

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.192-192
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• 2000

In this paper, a platoon merging is considered as a remote-controlled system with the state represented by a stochastic process. In this system, it becomes to encounter situations where a single decision maker controls a large number of subsystems, and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike classical estimation problem in which the observation is a continuous process corrupted by additive noise, there is a constraint that the observation must be coded and transmitted over a digital communication channel with finite capaci쇼. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. Using the coder-estimator sequence, the remote control station designs a feedback controller. In this paper, we introduce a stochastic model for the lead vehicle in a platoon of vehicles considering the angle between a road surface and a horizontal plane as a stochastic process. The simulation results show that the inter-vehicle distance and the deviation from the desired inter-vehicle distance are well regulated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.346-350
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• 1996

In optical disk drives, one of commonly used pickup actuator is a Sliding and rotary type of pickup actuator which is cheaper than other pickup actuators and has simple assembly. However, it reported that non-linearity due to friction between a shaft and a sleeve had to be considerably analyzed in design and servo system in employing this type of pickup actuator. In this paper, this friction is modeled as a Coulomb's friction and the effect of friction is examined in the simulation. A digital servo system is applied to pickup actuator with friction in order to have good focusing servo. To enhance focusing servo performance using digital servo merit, frist PD-controller is applied to have fast response performance, second lead-lag compensator is applied to have stable focusing performance.