• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1093-1097
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• 1990

A d.c. servomotor with pulse encoder is used to improve the movement of a hospital mobile robot along the desired line. We can achieve an improved movement of the robot by applying a PLL control. It is then shown that we can also reduce 42% of the power dissipation by the use of a PWM control. Furthermore, some simulation studies are presented to illustrate the design of PI control and optimal regulator for the control of the d.c. servomotor.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.76-78
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• 1987

This paper describes the theory and application of a multi-input/multi-output self-tuning regulator where the control objective is the assignment of the closed-loop pole set to prespecified locations. The algorithm described In this paper has a 'self-tuning' property. This self-tuners are more robust than the tuners that are based on optimal control synthesis method. This paper demonstrate usefulness of the algorithms by means of some simulation studies.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.1
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• pp.104-112
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• 2003

This paper introduces a thruster attitude control system for the KSR-III and addresses system configuration, design condition for several components and development systems. These systems were confirmed through environmental tests, compatibility tests with other sub-systems and are planned to launch by this year. After the launch test, it can be redesigned for optimal systems using post-analysis.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.144-149
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• 2017

There have been lots of interest on service and entertainment robots. To ensure that robots work in harmony with humans, their stability and compactness are some of the key issues. Obviously, robots with fewer wheels occupy a smaller floor area compared to those with more wheels. In addition, robots with fewer wheels, whose posture stabilities are maintained by feedback control, are stable even under larger accelerations and/or higher locations of the center of mass. To facilitate controller design, it is assumed that both pitch and roll dynamics are decoupled. The dynamic equations of motion for the proposed robot are derived from the Euler-Lagrange equation. To obtain the optimal balancing control law, linear quadratic regulator control methods are applied to the linearized dynamic equations. Simulation and experimental results verify the effectiveness and performance of the proposed balancing control algorithm for a single-wheeled mobile robot.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.1039-1040
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• 2006

The resonant converters cause the high voltage stress according to the input voltage, which increases the conduction loss in converter power switches. The topology of LLC half bridge resonant converter provides ZVS characteristic and also the stress of voltage and current is not higher than that of the general resonant converters. So we can expect the higher efficiency. In this paper, the LLC resonant converter is designed for the notebook computer adapter. In the adapter design, we should consider the weight, the size and overheat of the adapter. Thus the higher efficiency is an essential particular. First of all, the optimal design of transformer is the most important facts. Some parameters should be considered in order to get the highest efficiency. The adapter is designed through the considering of these parameters including the PFC circuit of the pre-regulator. It converts AC line input into about $400V_{DC}$ Link voltage of the LLC converter input and the converter has $16V_{DC}/90W$ ratings. The efficiency measured is about up to 92%.

• Proceedings of the KIEE Conference
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• 1998.07c
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• pp.1195-1199
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• 1998

In this paper a design method of robust power system stabilizers is proposed by means of robust linear quadratic regulator design technique under power system's operating condition change, which is caused by inner structure uncertainties and disturbances into a power system. It is assumed that the uncertainties present in the system are modeled as one equivalent signal. In this connections an optimal LQR control input for disturbance rejection, the output feedback gain for eliminating the disturbance are calculated. In this case. PSS input signal is obtained on the basis of weighted ${\Delta}P_e$ and $\Delta\omega$. In order to stabilize the overall control of system. Pole placement algorithm is applied in addition. making the poles of the closed loop system to move into a stable region in the complex plane. Some simulations have been conducted to verify the feasibility of the proposed control method on a machine to infinite bus power system. From the simulation results validation of the proposed method could be achieved by comparisons with the conventional PSS with phase lag-lead compensation.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.2
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• pp.236-242
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• 2008

In this paper, we propose an optimized fuzzy controller based on Hierarchical Fair Competition-based Genetic Algorithms (HFCGA) for rotary inverted pendulum system. We adopt fuzzy controller to control the rotary inverted pendulum and the fuzzy rules of the fuzzy controller are designed based on the design methodology of Linear Quadratic Regulator (LQR) controller. Simple Genetic Algorithms (SGAs) is well known as optimization algorithms supporting search of a global character. There is a long list of successful usages of GAs reported in different application domains. It should be stressed, however, that GAs could still get trapped in a sub-optimal regions of the search space due to premature convergence. Accordingly the parallel genetic algorithm was developed to eliminate an effect of premature convergence. In particular, as one of diverse types of the PGA, HFCGA has emerged as an effective optimization mechanism for dealing with very large search space. We use HFCGA to optimize the parameter of the fuzzy controller. A comparative analysis between the simulation and the practical experiment demonstrates that the proposed HFCGA based fuzzy controller leads to superb performance in comparison with the conventional LQR controller as well as SGAs based fuzzy controller.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.10
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• pp.330-338
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• 2018

The proportional-integral-derivative(PID) controller has been widely used in the industry because of its robust performance and simple structure in a wide range of operating conditions. However, the AVR(Automatic Voltage Regulator) as a control system is not robust to variations of the power system parameters. Therefore, it is necessary to use PID controller to increase the stability and performance of the AVR system. In this paper, a novel design method for determining the optimal PID controller parameters of an AVR system using the particle swarm optimization(PSO) algorithm is presented. The proposed approach has superior features, including easy implementation, stable convergence characteristic and good computational efficiency. In order to assist estimating the performance of the proposed PSO-PID controller, a new performance criterion function is also defined. This evaluation function is intended to reflect when the maximum percentage overshoot, the settling time are given as design specifications. The ITAE evaluation function should impose a penalty if the design specifications are violated, so that the PSO algorithm satisfies the specifications when searching for the PID controller parameter. Finally, through the computer simulations, the proposed PSO-PID controller not only satisfies the given design specifications for the terminal voltage step response, but also shows better control performance than other similar recent studies.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.10
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• pp.1696-1702
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• 2008

This paper proposes a voltage compensation device direct control strategy to realize the distributed, autonomous voltage control of the distribution system, which based on voltage data collected from customers of the remote site under the ubiquitous-based distribution system. In the proposed method, The ULTC and the SVR(Step Voltage Regulator)s compensate autonomously the voltage for self-compensation area based on the voltage data furnished from the ubiquitous device of customers. Also, the SVRs overcome the limit of single-operation of ULTC by the interlocking operation with the ULTC and enhance the voltage compensation capability for the customer. In particular, an optimization design method and a fuzzy design method are compared to determine the effective control method of the voltage compensator under the ubiquitous-based on-line operation environments. In fuzzy method, the tap of voltage compensator is defined as output member. Finally, the proposed two methods are implemented in Visual C++ MFC, the effectiveness is proved by simulation based on the worst virtual voltage data. Also, an optimal voltage compensation strategy is determined under on-line environments based on analyzed results.

• Smart Structures and Systems
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• v.20 no.3
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• pp.273-283
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• 2017

This paper presents and compares three feedback control strategies for active control of noise inside a 3-D vibro-acoustic cavity. These are a) control strategy based on direct output feedback (DOFB) b) control strategy based on linear quadratic regulator (LQR) to reduce structural vibrations and c) LQR control strategy with a weighting scheme based on structural-acoustic coupling coefficients. The first two strategies are indirect control strategies in which noise reduction is achieved through active vibration control (AVC), termed as AVC-DOFB and AVC-LQR respectively. The third direct strategy is based on active structural-acoustic control (ASAC). This strategy is an LQR based optimal control strategy in which the coupling between the various structural and the acoustic modes is used to design the controller. The strategy is termed as ASAC-LQR. A numerical model of a 3-D rectangular box cavity with a flexible plate (glued with piezoelectric patches) and with other five surfaces treated rigid is developed using finite element (FE) method. A single pair of collocated piezoelectric patches is used for sensing the vibrations and applying control forces on the structure. A comparison of frequency response function (FRF) of structural nodal acceleration, acoustic nodal pressure, and piezoelectric actuation voltage is carried out. It is found that the AVC-DOFB control strategy gives equal importance to all the modes. The AVC-LQR control strategy tries to consume the control effort to damp all the structural modes. It is seen that the ASAC-LQR control strategy utilizes the control effort more intelligently by adding higher damping to those structural modes that matter more for reducing the interior noise.