• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.969-976
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• 2008

A position control problem is studied for UEV(Unmanned Expedition Vehicles), which is to follow pre-determined paths via fixed way-points. Hybrid control systems are used for position control of UEV depending on the operating condition. Speed control consists of three controllers: PID control, adaptive PI control, and neural network. Heading control consists of two controllers, PID and adaptive PID control. The controllers are selected based on the changes of road conditions. We suggest an adaptive PI control algorithm for speed control and an transition management algorithm among the controllers. The algorithm adapts the road conditions and variation of vehicle dynamical characteristics and selects a suitable controller.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.1
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• pp.97-103
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• 1995

This paper describes position and force hybrid control for a robot manipulator with artificial rubber muscle actuators. The controller using two control laws such as PID control and fuzzy logic control methods is designed. This paper concludes to show the effectiveness of the proposed controller by some experiments for a two-link manipulator.

• Journal of the Semiconductor & Display Technology
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• v.1 no.1
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• pp.21-28
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• 2002

This paper presents a dynamic modeling and a robust PID controller design process for the wire bonder head assembly. For modeling elements, the system is divided into electrical part, magnetic part, and mechanical part. Each part is modeled using the bond graph method. The PID controller is used for high speed/high accuracy position control of the wire bonder assembly. The Taguchi method is used to obtain the more robust PID gain combinations than conventional one. This study makes use of an L18 array with three parameters varied on three levels. Results of simulations and experimental show that the designed PID controller provides a improved ratio of signal to noise and a reduced sensitivity improved to the conventional PID controller.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.142-142
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• 2000

During the operation of crane system in container yard, it is necessary to control the crane trolley position so that the swing of the hanging container is minimized. Recently an automatic control system with high speed and rapid transportation is required. Therefore, we designed a controller to control the crane system with disturbances. In this paper, Ive present the neural network two degree of freedom PID controller to control the swing motion and trolley position. Then we executed the computer simulation to verify the performance of the proposed controller and compared the performance of the neural network PID controller with our proposed controller in terms of the rope swing and the precision of position control . Computer simulation results show that the proposed controller has better performances than neural network PID with disturbances.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2002.05a
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• pp.310-313
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• 2002

In industrial actual control system, PID controller has been used with its high delicate control system in position control system. PID controller has simple structure and superior ability in several characteristics. When the response of system is changed by delay time, variable load , disturbances and external environment, control gain of PID controller must be readjusted on the system dynamic characteristics. Therefore, a control ability of PID controller is degraded when the control gain is inappropriately determined. When the response characteristic of system is changed under a condition, control gain of PID controller must be changed adaptively to be a waited response of system. In this paper an PIDA controller is constructed by Two-Layers Neural Network applying back-propagation(BP) algorithm. Form the result of compute. simulation in the proposed controller, its usefulness is verified.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.124-124
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• 2000

In this paper, The PID controller for stabilization of an inverted pendulum system is proposed. The PR control rule is very common in control systems. It is the basic tool for solving most process control problem. We consider the inverted pendulum system containing two PID controllers. The first controls the angle of the pendulum. The second is used to control the position of the cart. We can show stabilization of the PID controller through simulation of the inverted pendulum system.

• Journal of the Institute of Convergence Signal Processing
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• v.10 no.3
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• pp.186-192
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• 2009

PID controllers are simple in structure and easy for implementation. However, they may produce large overshoots and over-oscillatory responses. Combining PID control with other control techniques often results in advanced hybrid schemes that are able to improve pure PID controllers. This paper proposes hybrid controller for position control system of servo motor. The proposed controller is composed of a subcontroller and a parallel PID controller. The subcontroller improves the transient system performance while the PID controller is mainly responsible for the steady-state system performance. A very promising advantage of this hybrid scheme, in terms of controller synthesis, is that the subcontrollers and controller components can be designed separately. Systematic design methods for various controller components are developed. The proposed hybrid scheme is applied to a DC motor position servo system. The effectiveness of the proposed controller is verified through the computer simulation results.

• Journal of Power Electronics
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• v.9 no.1
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• pp.74-84
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• 2009

The design and implementation of a high performance PID (Proportional Integral & Differential) style controller with zero-phase error tracking property is considered in this article. Unlike a ball screw driven system, the controller in a direct drive system should provide a high level of tracking performance while avoiding the problems due to the absence of the gear system. The stiff mechanical element in a direct drive system allows high precise positioning capability, but relatively high tracking ability with minimal position error is required. In this work, a feasible position controller named 'Unified PID controller' is presented. It will be shown that the function of the closed position loop can be designed into unity gain system in continuous time domain to provide minimal position error. The focus of this work is in two areas. First, easy gain tunable PID position controller without speed control loop is designed in order to construct feasible high performance drive system. Second, a simple but powerful zero phase error tracking strategy using the pre-designed function of the main control loop is presented for minimal tracking error in all operating conditions. Experimental results with a s-curve based position pattern commonly used in industrial field demonstrate the feasibility and effective performance of the approach.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.747-753
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• 2001

This paper presents a dynamic modeling and a robust PID controller design process for the wire bonder head assembly. For the modeling elements, the system is divided into electrical system, magnetic system, and mechanical system. Each system is modeled by using the bond graph method. The PID controller is used for high speed/high accuracy position control of the wire bonder assembly. The Taguchi method is used to evaluate the more robust PID gain combinations. This study makes use of an L18 array with three parameters varied on three levels. Computer simulations and experimental results show that the designed PID controller provides more improved signal to noise ratio and reduced sensitivity than the conventional PID controller.

• Journal of Biosystems Engineering
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• v.34 no.5
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• pp.305-314
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• 2009

The purpose of this paper was to design an effective control system of 1-axis exciter for a seat vibration test of agricultural tractors using MATLAB simulation. The developed simulation model was composed with a hydraulic pump, a hydraulic servo valve, a hydraulic cylinder and load system. Also it was verified by comparing the simulation results with experimental results of actual control system in order to optimize the control performance. And in order to improve its control performance, the designed PID controller in this research was tuned using Ziegler-Nichols 2nd law and zero's moving method of PID controller's transfer function. As the result of these research, the developed position control system was able to control the system's position accurately within 5% errors.