• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1834-1835
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• 2006

A robust adaptive position control algorithm is proposed for servomotor drive system with uncertainties and load disturbance. The proposed controller is comprised of a nominal controller and a robust control. The nominal controller is designed in the condition without all the external load disturbance, nonlinear friction and unpredicted uncertainties. The robust controller containing lumped uncertainty approximator using fuzzy-neural network(FNN) is designed to dispel the effect of uncertainties and load disturbance. The interconnection weight of the FNN can be online tuned in the sense of the Lyapunov stability theorem thus asymptotic stability of the proposed control system can be guaranteed. Finally, simulation results verify that the proposed control algorithm can achieve favorable tracking performance for the induction servomotor drive system.

• Transactions of The Korea Fluid Power Systems Society
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• v.8 no.2
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• pp.23-28
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• 2011

This paper investigates the motion control of a hydraulic motor-load system using the Simple Adaptive Control (SAC) method. The plant transfer function has been modelled mathematically. The open-loop responses have been obtained experimentally in order to identify the design parameters of transfer function. The hydraulic motor-load system has been modelled using the 3D CAD and imbedded in the hydraulic circuit simulation program to verify the overall performance. The experimental results confirm that the SAC method gives a good tracking performance compared to the PID control.

• Journal of international Conference on Electrical Machines and Systems
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• v.2 no.1
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• pp.69-76
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• 2013

This paper is concerned with speed tracking control problem for permanent-magnet synchronous drives (PMSM) in the presence of an variable load torque and unknown model parameters. The disturbance of speed control caused by inaccuracy of model parameters has been investigated. A load torque observer has been proposed to observe the load torque and estimate the disturbance caused by inaccuracy of model parameters. Both inertia and friction coefficient are identified in gradient descent approach. The stability condition of the observer has also been studied. Furthermore an improved feed-forward control has been introduced to reduce the speed track error. The proposed control strategy has been verified by both simulation and experimental results.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.10
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• pp.44-52
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• 1994

In this paper, we assume that the dynamics of DC motor and nonlinear load are unknown. We propose an inverse dynamic model of DC motor and nonlinear load using the artificial neural network and construck speed control system based on the proposed dynamic model. We also propose another dynamic model with speed prediction scheme using the artificial neural network that removes the undesirable time delay effect caused by the computation time during the real-time control. We suggest a dynamic model which has arbitrary number of speed arguments and is especially effective when the motor and load has large moment of inertia. Next, we suggest a controller that combine the neurocontrol and PID control with constant gain. We show that the proposed neurocontrol systems have capabilities of noise rejection and generalization to have good velocity tracking through computer simulations and experiments.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.5
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• pp.145-153
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• 2000

This paper discusses the dynamic modeling and robust control development for a differentially steered mobile robot subject to wheel slip according to high load. Consideration of wheel slip is crucial for high load applications such as construction automation tasks because wheel slip acts as a severe disturbance to the system. It is shown that the uncertainty terms due to the wheel slip satisfy the matching condition for the sliding mode control design. From the full dynamic model of the mobile robot, a reduced ideal model is extracted to facilitate the control design. The sliding mode control method ensures the dynamic tracking performance for such a mobile robot. Numerical simulation shows the promise of the developed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.687-692
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• 1990

The purpose of this study is ID form the required force for measurements of the performances of the equipments or testpieces. For the generation of the required force, ft difference of pressures in each chamber of the hydraulic cylinder was controlled and Variable Structure Control theory was adopted to control it. Besides, observers -Luenberger Observer and nonlinear Variable Structure Observer - were designed to estimate the derivative of the load pressure which is necessary ID determine the sliding surface in VSC theory. As a consequence of the computer simulation, it was shown that VSC had better performance than classical control theory(P, PD control) and VSO performed better than the Luenberger Observer at the load pressure control.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.1018-1023
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• 1998

This paper presents an effective control scheme incorporated in the voltage-fed half-bridge series resonant inverter for induction heating applications, which is based upon a load-adaptive tuned frequency tracking control strategy using PLL(Phase Locked Loop) and its peripheral control circuit. The proposed control strategy ensures a stable operation characteristics of overall inverter system and ZVS(Zero Voltage Switching0 operation in spite of sensitive load parameters variation as well as power regulation, specially in the non-magnetic heating loads. The simulation results and the performance characteristics in the steady-state are shown as compared with the experimental results for a prototype induction cooking system rated at 1.2kW.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.1990-1994
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• 2008

In this paper, we present a usable method of driving path in automatic guidance vehicle(AGV). The AGV is precisely driving to follow reference route. The Phileas in Netherland and Bi-modal tram in Korea have one wheel for the each side because of all wheels steering. For this reason, the loading area of wheels is very small. It is a disadvantage for asphalt load. The precise route tracking of vehicle can distort the flexible asphalt load. In this paper, we propose a driving method for alleviation of distortion on asphalt load.

• Journal of Korean Institute of Industrial Engineers
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• v.21 no.2
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• pp.239-254
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• 1995

Automated Storage/Retrieval (AS/R) systems have been used mostly in manufacturing or distribution industry in order to store or retrieve palletized items automatically. Since the items ore heavy or bulky, only one pallet at a time is moved by the stacker crane In this study, however, we introduce the "multi -load" AS/R system in which the items to be stored are data storage devices of equal size such as video tape or compact disc. Since the items are small and light multiple items can be stored and retrieved in each trip by using a magazine and a robot arm mounted on the crane Given the magazine capacity, and the locations of retrieval items and empty cells in the rack, the throughput of the multi-load AS/R system will depend on the selection of storage locations and the sequence of visits. We propose four heuristic algorithms for the multi-command. Computer simulation is used to evaluate the four algorithms in terms of throughput and number of back tracking of the crane.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.8
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• pp.417-425
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• 1999

This paper presents an effective control scheme with the voltage-fed half-bridge series resonant inverter for induction heating system, which is based upon a load-adaptive tuned frequency tracking control strategy using PLL(Phase Locked Loop) and its peripheral control circuits. The proposed control strategy ensures a stable operation characteristics of overall inverter system and ZVS(Zero Voltage Switching) irrespective of sensitive load parameter variations, specially in the non-magnetic materials as well as power regulation. The detail operation principle and the characteristics of inverter system with the proposed control scheme are described and its validity is verified by the simulation and the experimental results for a prototype induction cooking system rated at 1.2kW.