• 한국항공우주학회지
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• 제41권6호
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• pp.473-480
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• 2013

2020년 예정인 국내 달 탐사 프로그램을 위하여 달착륙선에 관한 다양한 연구가 진행되고 있다. 본 연구에서는 RCS jet을 고려한 달 착륙선의 Powered descent phase에서의 유도제어시스템을 구성하고 통합 시뮬레이션을 수행하였다. 달착륙선은 RCS 제트추력기를 이용하여 자세를 제어하므로 일반적인 비례제어기가 아닌 뱅뱅제어기를 사용하게 된다. 본 논문에서는 16개의 추력기를 이용하여 자세제어를 수행하고, 이를 위하여 phase-plane 스위칭 함수를 이용한 on/off 제어기와 추력기 선택 알고리즘을 적용하였다. 또한 Fuzzy logic을 이용한 유도 알고리즘을 이용하여 최적기법을 통해 생성된 기준경로에 따라 정확하고 안전하게 착륙 할 수 있음을 확인 하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.590-593
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• 2005

Unmanned Helicopter has several abilities such as vertical Take off, hovering, low speed flight at low altitude. Such vehicles are becoming popular in actual applications such as search and rescue, aerial reconnaissance and surveillance. These vehicles also used under risky environments without threatening the life of a pilot. Since a small unmanned helicopter is very sensitive to environmental conditions, it is generally known that the flight control is very difficult problems. The nonlinear adaptive fuzzy controller design procedure and its applications for altitude control of unmanned helicopter were described in the paper. This research was concentrated on describing the design methodologies of altitude controller design for small unmanned helicopter acquiring autonomous take off and vertical movement. The design methodologies and performance of the altitude controller were simulated and verified with an adaptive fuzzy controller. Throughout simulation results, I showed that the proposed adaptive controllers have enhanced control performance such as robustness, effectiveness and safety, in the altitude control of the unmanned helicopter.

• 한국정밀공학회지
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• 제20권8호
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• pp.86-93
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• 2003

The development of a fast, accurate, and inexpensive position-controlled pneumatic actuator that may be applied to a variety of practical positioning applications with various external loads is described in this paper. A novel modified pulse width modulation (MPWM) valve pulsing algorithm allows on/off solenoid valves to be used in place of costly servo valves. A comparison between the system response of standard PWM technique and that of the novel modified PWM technique shows that the control performance is significantly increased. A state feedback controller with position, velocity and acceleration feedback is successfully implemented as the continuous controller. Switching algorithm of control parameter using learning vector quantization neural network (LVQNN) is newly proposed, which estimates the external loads of the pneumatic actuator. The effectiveness of the proposed control algorithms are demonstrated through experiments with various loads.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권7호
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• pp.313-317
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• 2001

This paper proposed a fuzzy logic cross coupled controller which can enhance the path tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV follows the guide path, it cannot be avoid the deviation from the path due to the inevitable error and the deviation must be corrected. Optically guided AGV used in industrial area is controlled by On-Off controller generally, the experimental AGV has three optical sensors in front body. In this structure, we could not know the leaving distance accurately and steering angle from the guided line, so AGV could not be controlled properly with conventional controller in the case of increasing or decreasing velocity. If we mount additional sensors the AGV, we could know the leaving distance and steering angle from the guided line and proper error compensating methode can be applied. But because cost of sensors are high, the cost of total system is increasing. So, in this paper, to improve the tracking performance of AGV which has the minimum number of sensors and fuzzy logic cross coupled controller is proposed. Some simulations and experimental results are presented to illustrate the performance of the proposed controller.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제50권7호
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• pp.356-363
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• 2001

A SRG (Switched Reluctance Generator) has many advantages such as high efficiency, low cost, high-speed capability and robustness compared with other of machine. But the control methods that have been adopted for SRGs are complicated. This paper proposes a simple control method using the PID controller which only controls turn-off angles while keeping turn-on angles of SRG constant. In order to keep the output voltage constant, the turn-off angle for load variations is controlled by using linearity between the generated current and turn-off angle since the reference generated current can be led through the voltage errors between the reference and the actual voltage. The suggested control method enhances the robustness of this system and simplifies the hardware and software by using only the voltage and the speed sensors. The proposed method is verified by experiments.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 1994년도 특별강연 및 추계학술발표 개요집
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• pp.89-92
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• 1994

According to the industrial development welding technology is necessitated to develop in the direction of full automation, high efficiency, energy saving, and full safety. In this study, thus, a simple holder ampere controller for welding systems is developed and applied to arc welders and its capability is examined and tested. The results are as follows: 1. It has a simple structure, since the primary AC power for the welder can be directly control led using a triac. 2. It can control the electric power strength in several steps as well as on and off easily, since a small-sized variable resistance is installed in the small controller on the welding holder. 3. In real field applications a welding system with this controller increases the working efficiency greatly compare to the conventional arc welders without the system, because the controller can control the ampere onsite far from the main power supply. 4. It can reduce the probability of the electrical mishap due to electrical leakage, since the electricity is disconnected as soon as the switch is off or welding person's hand is taken off from the welder after the work or for rest. 5. It can control the welding depth in the beginning and do the crater treatment well in the ending of welding, since it always supplies the relevent amount of electrical current. Therefore, it can improve the mechanical properties of the welding zone.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 Proceedings ICPE 01 2001 International Conference on Power Electronics
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• pp.351-354
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• 2001

In this paper, we present self-tuning control of switched reluctance motor for maximum torque with phase current and shaft position sensor. Determination method of turn-on/off angle is realized by using self-tuning control method. During the sampling time, micro-controller checks the number of pulse from encoder and compare with the number of pre-checked pulse. After micro-controller calculates between two data, it moves forward or backward turn-off angle. When the turn-off angle is fixed optimal turn-off angle, the turn-on angle automatically moves forward or backward by a step using self-tuning control method. And then, optimal turn-off angle is searched once again. As such a repeating process, turn-on/off angle is moved automatically to obtain the maximum torque. The experimental results are presented to validate the self-tuning algorithm.

• 한국전산구조공학회논문집
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• 제18권3호
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• pp.227-243
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• 2005

본 논문에서는 지진하중을 받는 사장교에 납고무받침과 유압식 가력기를 결합한 복합제어 시스템을 적용하였다. 복합제어 시스템은 다중의 제어장치로 인해 제어성능의 향상을 기대할 수 있지만 추가적으로 사용되는 능동제어 장치로 인하여 전체 제어시스템의 강인성이 저하될 수 있다. 따라서 본 연구에서는 복합제어 시스템의 강인성을 향상시키기 위해 기존의 LQG 알고리즘에 납고무받침의 응답에 따른 on-off 형태의 알고리즘을 결합하였다. 수치해석 결과 on-off 형태의 LQG 알고리즘을 사용한 복합제어 시스템은 납고무받침을 사용할 수동제어 시스템이나 유압식 가력기만을 사용한 능동제어 시스템과 비슷한 최대제어력이나 평균제어력을 사용하면서 제어성능이 향상되었으며, 기존의 성능에 초점을 둔 LQG 알고리즘만을 사용한 복합제어 시스템과 유사한 제어성능을 나타냈다. 또한 제안된 제어시스템은 구조물의 강성행렬에 교란이 있을 때 기존의 LQG 알고리즘만을 사용한 복합제어 시스템에 비해 강인성이 향상되었으며 교란된 시스템에 대해 불안정성을 보이지 않았다. 제안된 제어시스템은 설계지진뿐만 아니라 다른 입력지진에 대해서도 제어성능을 유지하였다. 따라서 On-Off 형태의 LQG 알고리즘을 사용한 복합제어 시스템은 불확실성이 많은 지진하중을 받는 사장교에 개선된 제어기법으로 제안될 수 있다.

• 한국정밀공학회지
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• 제13권6호
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• pp.102-113
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• 1996

An experimental and theoretical study on a pneumatic servo system has been conducted using on-off valves and a pneumatic cylinder. A V/I converter has been designed for rapid rising and falling of the solenoid current, which significantly improves the positioning accuracy and settling time of the servo system by shortening the valve opening time. Pulse width modulation was modified to operate on-off valves effectively. A state feedback controller which feeds back position, velocity and acceleration is used to control the system. The influence of controller gains on the system performance is studied to develop a scheme that automatically adjusts the gains using fuzzy logic theory. It is shown experimentally that the proposed fuzzy logic tuner works satisfactorily. A new method for measurements of valve effective areas is proposed, and a partially polytropic model is applied to simulation of the pneumatic system. Simulated results show good agreement with experimental data.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.164-167
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• 1996

This paper presents an off-line P.I.D parameter estimation method during normal operation in power plant. The process parameters are estimated using the recursive least square method. The controller parameters are estimated on the basis of desired characteristics of the dynamic model of the closed-loop control.