• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.271-272
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• 2006

This paper presented a new experimental gain tuning technique for a Multi-Axis Servo System. First, the investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer (DSA) was performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function was obtained. In turn, the integral gain of a servo controller can be found out by using the Integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller has been obtained by using the Bode plot of the closed loop transfer function. We have also proposed the technique to find out an optimal parameter of a notch filter, which has a great influence on vibration reduction, by using the damping factor extracted from the Bode plot of closed loop transfer function.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.52 no.11
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• pp.647-654
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• 2003

As electrical power system has become complicated and enlarged to cope with the increasing electric demand, it has to be expected that higher speed, higher reliability, higher function and higher arithmetic ability in protective relay should be realized. Therefore, in this papers, by hardware design and implementation used DMA controller that transfer blocks of data to any location in the memory map without interfering with CPU operation, CPU utilization is increased effectively, as a result it made possible to implement multi-function digital protective relay which has high trust and high function of protection as well as control and metering for power transformers using single processor(DSP).

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.2
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• pp.55-60
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• 2002

This paper presents a controller for the multiple DC motors using the CAN(Controller Area Network). The controller has a benefit of reducing the cable connections and making the controller boards compact through the network including expansibility. CAN, among the field buses, is a serial communication methodology which has the physical layer and the data link layer in the ISO's OSI (Open System Interconnect) 7 layered reference model. It provides the user with many powerful features including multi-master functionality and the ability to broadcast / multicast telegrams. When we use a microprocessor chip embedding the CAN function, the system becomes more economical and reliable to react shortly in the data transmission. The controller, we proposed, is composed of two main controllers and a sub controller, which have built with a one-chip microprocessor having CAN function. The sub controller is plugged into the Pentium PC to perform a CAN communication, and connected to the main controllers via the CAN. Main controllers are responsible for controlling two motors respectively. Totally four motors, actuators for the biped robot in our laboratory, are controlled in the experiment. We show that the four motors are controlled properly to actuate the biped robot through the network in real time.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.194-198
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• 1998

A novel fuzzy basis function vector- based adaptive control approach for Multi-input and Multi-output(MIMO) system is presented in this paper, in which the nonlinear plants is first linearised, the fuzzy basis function vector is then introduced to adaptively learn the upper bound of the system uncertainty vector, and its output is used as the paramenters of the compensator in the sense that both the robustness and the asymptotic error convergence can be obtained for the closed loop nonlinear control system.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.786-791
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• 2005

This paper is concerned with the examination and evaluation concerning a tuning method of multivariable PID controllers based on partial model matching on frequency domain proposed by authors from practical view point. In this case, PID controller parameters are determined by minimizing the loss function defined by the difference between frequency response of ideal model transfer function and actual frequency response on several frequency points. The purpose of the paper is to examine and evaluate the performance of the method through actual experiments of MIMO liquid level experimental process control equipment.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.70.3-70
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• 2002

This paper presents a procedure of implementing a robust controller for a paper-making plant in DCSs. A paper-making process generally has triple problems to automatically tune its output qualities . Long transport delays which are not able to be simply linearized. The transfer matrix of the process is not square. And every plant model has some uncertainty in low and middle frequency region. To tackle these problems, a multi-input / multi-output (MIMO) plant model having some uncertainty was derived by considering some physical and mechanical principles of the process. Then a MIMO robust-controller is designed and implemented in a real DCS as function block type. Some special co...

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.2
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• pp.228-236
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• 2004

In this paper. we present a neuro-fuzzy controller which unifies both fuzzy logic and multi-layered feed forward neural networks. Fuzzy logic provides a means for converting linguistic control knowledge into control actions. On the other hand. feed forward neural networks provide salient features. such as learning and parallelism. In the proposed neuro-fuzzy controller. the parameters of membership functions in the antecedent part of fuzzy inference rules are identified by using the error back propagation algorithm as a learning rule. while the coefficients of the linear combination of input variables in the consequent part are determined by using the least square estimation method. Finally. the effectiveness of the proposed controller is verified through computer simulation for an inverted pole system.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.57 no.1
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• pp.46-55
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• 2008

In this paper, we designed the bay control unit that is based on the microprocessors and integrates with the new technology of electrical, electronic, and mechanical fields. Nowadays the customers have required much more integrated multi-protection relay, monitoring, control devices and power management for better and easier maintenance, performance, electrical system analysis and communication according to new trend of switchboard This bay controller supplies those requirements of customers with easy handling and operation. This bay controller provides a graphic display with rear-lit liquid crystal LCD and push buttons as kinds of HMI(Human Machine Interface). This bay controller provides the parameter setting program, control setting program, various editors and fault recording and analysis program on Windows/95/98/NT/2000/XP for HMI. In addition, this bay controller can be set manually and this manual setting function helps user to interface easily.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.59.5-59
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• 2001

Multi-agent robot system is the system which executes by cooperating with each robots and controlling several robots. Capability and function of each robot must be considered for cooperation behavior. Furthermore, it is necessary to analyze the given environment and to replace complex task with some simple tasks. Analysis of the given environment and role assignment for the given tasks are composed of discret event. In this paper, the hierarchical controller for multi-agent robot system using the petri-net state diagram is proposed. The proposed modeling method is implemented for soccer robot system. The effectiveness of proposed modeling method is shown through experiment.

• Proceedings of the KIEE Conference
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• 2007.11c
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• pp.146-148
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• 2007

In this paper, we designed the bay control unit that is based on the microprocessors and integrates with the new technology of electrical, electronic, and mechanical fields. Nowadays the customers have required much more integrates multi protection relay, monitoring, control devices and power management for better and easier maintenance, performance, electrical system analysis and communication according to new trend of switchboard. This bay controller supplies those requirements of customers with easy handling and operation. This bay controller provides a graphic display with rear-lit liquid crystal LCD and push buttons as kinds of HMI. This bay controller provides the parameter setting program, various editors and fault recording and analysis program on Windows/95/98/NT/2000/XP for HMI. In addition, this bay controller can be set manually and this manual setting function helps user to interface easily.