• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.758-761
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• 2004

This paper proposes a design and implementation of multiplierless digital PID (Proportional-Integral-Derivative) controller using FPGA (Field Programmable Gate Array) for controlling the speed of DC motor in digital system. The multiplierless PID structure is based on Distributed Arithmetic (DA). The DA is an efficient way to compute an inner product using partial products, each can be obtained by using look-up table. The PID controller is designed using MATLAB program to generate a set of coefficients associated with a desired controller characteristics. The controller coefficients are then included in VHDL (Very high speed integrated circuit Hardware Description Language) that implements the PID controller onto FPGA. MATLAB program is used to activate the PID controller, calculate and plot the time response of the control system. In addition, the hardware implementation uses VHDL and synthesis using FLEX10K Altera FPGA as target technology and use MAX+plusII program for overall development. Results in design are shown the speed performance and used area of FPGA. Finally, the experimental results can be shown when compared with the simulation results from MATLAB.

• 융합신호처리학회논문지
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• 제13권1호
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• pp.56-62
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• 2012

이 논문은 매트랩/시뮬링크에서 도입한 TI 2000 DSP 라이브러리를 위한 임베디드 타켓을 사용하여 직류 모터 시스템에 대한 속도 제어기를 설계하고 구현하였다. 속도 제이기는 매트랩/시뮬링크 프로그램을 사용하여 쉽게 설계하고 구현할 수 있다. 모터 속도의 궤환은 속도 감지기로 엔코드와 펄스미터를 사용하여 eZdsp F2812 의 A/D 변환기를 통하여 처리하였다. 제어기의 실시간 프로그램은 시뮬링크를 사용하여 그렸고, P 제어기, PID 제어기 그리고 매개변수 추정 을 기반 적응제어기의 변환된 프로그램 코드는 Realsys eZdsp 2812 보드로 다운로드하였다. 그리고 실험을 통하여 구현된 제어기들의 속도응답을 확인하였다. 제어대상이 변경되었을 때에도 제어기를 쉽게 설계 및 구현하는 방법을 연구했다.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 1999년도 춘계학술대회 논문집
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• pp.183-192
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• 1999

The derivative equation measured of a MV=Kp8{(EVn-EVn-1)+Ki/S/1* EVn+(Kd/s)*(2PVn-1-{PVn-PVn-1)}(원문이미지참조) is used on the machine apparatus of industrial field, but this par doesn\`t able to educate now, because we didn\`t have the implementation device of PID module, so the principle implementation system of the PID Module is manufactured and developed. Through this system, the implementation system of PID Module is practiced with that the SV and the set of P, I, D is set on the derivative equation measured of PID. A things to be known of this experiment result is flow. 1)PID module is known that had to be used with the module of A/D and D/A. 2) In process of PV is approached to the SV to follow Kp, Ti and Td to cause a constant of set value on the MVp=Kp*EV, Mv=Ki/1 EVdt, MVd+tDBT/D EV(원문이미지참조) the variable rate of E and Kp, Td, Ti in that table 1 is analysed, is same as flow. ①If Kp is high, PV is near fast to the SV, but Kp is small, PV is near slowly to the SV. ②If Ki is shot, PV is close fast to the SV, but Ti is high, PV is close slowly to the SV ③If Td is high, the variable rate of E press hardly when because it doesn\`t increase, but Td is small, the variable rate of E press not hardly, upper with 1),2), PID module is supposed that be able to do the A/S and an implementation of that apparatus, and getting a success of aim that an engineer want, on control of temperature, tension, velocity, amount of flow, power of wind end so on, to get the principle of automatic implementation in industrial field with cooperation of A/D and D/A module.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2000년도 영호남학술대회 논문집
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• pp.91-100
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• 2000

An operating principle of PID module was implemented using the load, where the integer in a PID measuring derivate equation were valid in the ranges of 500-9000, 60-1000, and 000-9000, for P, I and D, respectively. A load operation program was designed to investigate the PID theory and its realization process. With it, it was examined the process that the current PV tracts the target SV, By investigating the time when the PV approaches the SV and the rate at which the EV is varied, it is revealed that 1) larger (or Smaller) Kp leads to faster (or slower) approaching of PV to SV, 2) smaller (or larger) Ti results in faster (or slower) approaching of PV to SV, 3) larger (or smaller)$T_d$ causes smaller (or Larger) rate variation in the EV. These observation were found to coincide with those of PID operating characteristics. Though this implementation, it is known for the widespread use of PID module that an improvement should be made in the error of temperature. This, meanwhile, implies that the computational time of conventional manipulation valve must be faster than 0.1 second. It is demanded that an improved PID module including the A/D and D/A module, in itself must be used in conjunction with PLC.

• 수산해양기술연구
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• 제28권1호
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• pp.39-44
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• 1992

Analog PID controllers have been designed to make good use of position control in industries. Recently, the importance of digital position control is emphasized for the requirements of controller which are not only to control the objects but to include various aspects such as easiness of design and implementation, simple exchange of control program and convenient communications of data between various controllers and a host computer. This study proposes a combined control method which is mixed the vaiable structure control (VSC) with the PI control for minimum time position control of DC servo motor by microcomputer. The results of test by this method show offset-free and minimum time optimal position control which is not affected by the disturbance and the system parameter variations. The validity of the proposed method comparing with the conventional PID control is proved by the response experiments.

• 한국정보통신학회논문지
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• 제6권6호
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• pp.974-979
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• 2002

다양한 공정 분야-발전 플랜트, 수처리 플랜트, 소각로 플랜트, 화학 플랜트, 시멘트 플랜트-에서 적용되는 제어 프로그램은 많은 종류가 있다. 이러한 제어 프로그램을 작성하기 위해서는 기존의 텍스트 기반의 제어 언어로는 현장의 엔지니어가 프로그램을 작성, 수정, 테스트 및 디버깅하는데 있어 어려움이 많다. 따라서 본 연구에서는 이러한 텍스트 기반의 단점을 해결하고, 다양한 플랜트에 적용이 가능하며 제어에 대한 일반적인 지식이 있는 엔지니어라면 누구나 쉽게 사용할 수 있는 제어 프로그램의 블록화 도형으로 표현할 수 있는 도구를 구현하였다. 구현된 기능 블록 작성기를 이용하면 제어의 흐름에 대한 시각적 표현과 제어의 중간 출력값 등을 볼 수 있어 보다 정밀한 공정 제어를 효율적으로 수행할 수 있다.

• 한국지능시스템학회논문지
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• 제14권5호
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• pp.648-654
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• 2004

반도체 제조 장비에서 가스의 질량 흐름 제어기(Mass Flow Controller: MFC)가 차지하는 비중은 매우 크다. 가스의 흐름 제어가 곧 반도체 소자의 품질 및 수율을 결정하는 중요한 요소이기 때문이다. 따라서 MFC의 고속, 고정밀 제어를 구현하기 위한 요구가 높아지고 있다. MFC의 제어 알고리즘에 관한 연구 선례는 찾아보기가 매우 힘들다. 그러나 일반적으로 PID 제어 알고리즘을 사용되는 것으로 알려지고 있다. MFC 제어의 어려움은 열에 의해 흐름을 감지하는 시스템일 경우 느린 응답 특성과 비선형성을 포함한다는 데 있다. 본 논문에서는 기존의 PID 알고리즘 보다 더 우수한 성능을 보이는 MFC 제어 알고리즘을 제시하고 실험을 통해 그 우수성을 보인다. 비선형성과 느린 응답 특성을 보상하기 위하여 퍼지제어 알고리즘을 적용하였으며 그 성능을 현재 상용화된 제품과 비교하였다. 본 논문에서 제안한 알고리즘은 PC와 PC에 장착된 데이터 획득 보드를 통하여 제어루프를 형성하였고, PC상에서 LabWindows/CVI 프로그램으로 제어알고리즘을 구현하였다. 또한, 느린 응답 특성이 존재하는 센서출력으로부터 실제의 흐름을 추정하는 하나의 방법도 제시하였다. 실험결과 본 논문에서 제안하는 알고리즘이 기존의 제품보다 더 빠르고, 더 정확한 제어성능을 보였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.52-56
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• 2004

Unmanned Aerial Vehicles (UAVs) are remotely piloted or self-piloted aircraft by inputted program in advance or artificial intelligence. In this study Aileron and Elevator are used to control the movement of airplane for horizontal and vertical flights about its longitudinal and lateral axis. In an introduction, the drone was linearly modeled by extracting aerodynamic parameter through flight test and simulation, lift and drag coefficient corresponding to angle of attack, changes of pitching moment coefficient. In the main subject, the flight simulation was performed after constructing hardware using TMS320F2812 from TI company and PID with lateral and longitudinal controller for horizontal and vertical flights. Flying characteristics of two system were estimated and compared through real flight test with hardware equipped algorithm and adaptive algorithm that was applied to consider external factors such as turbulence. In conclusion the control performance of the controller with proposed algorithm was streamlined at lateral and longitudinal controller respectively, we will discuss guidance command to pass way point.

• 대한설비공학회:학술대회논문집
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• 대한설비공학회 2007년도 동계학술발표대회 논문집
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• pp.46-51
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• 2007

The near-optimal control algorithm for central cooling system has been developed for minimizing energy consumption while maintaining the comfort of indoor thermal environment in terms of the environmental variables such as time varying indoor cooling load and outdoor temperatures. The optimal set-points of control parameters with near-optimal control are supply air temperature and chilled water temperature. This study has been done by using LapVIEW program with PID control in order to analyze the central cooling system energy saving.

• 한국생산제조학회지
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• 제23권3호
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• pp.318-324
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• 2014

Recent years have witnessed a growing demand for a wide variety of high-performance industrial robots. In this paper, for accurate gain tuning of a 6-axis articulated industrial robot with reduced noise, a program routine for a dynamic signal analyzer (DSA) using the frequency response method will be programmed using $LabVIEW^{(R)}$. Then, robot transfer functions can be obtained experimentally using the frequency response method with the DSA program. Data from the robot transfer functions are transformed into Bode plots, based on which an optimal gain tuning will be executed. Gain tuning can enhance the response quality of the output signal for a given input signal during real-time control of the robot. The effectiveness of our proposed technique will be verified by implementation with a (lab-manufactured) 6-axis articulated industrial robot (hereinafter called "RS2") and comparison with the zero position gain tuning, as well as other positions.