• Structural Engineering and Mechanics
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• 제87권3호
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• pp.231-242
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• 2023

A novel combinatorial type-2 adaptive neuro-fuzzy inference system (T2-ANFIS) and robust proportional integral derivative (PID) control framework for intelligent vibration mitigation of uncertain structural system is introduced. The fuzzy logic controllers (FLCs), are designed independently of the mathematical model of the system. The type-1 FLCs, have a limited ability to reduce the effect of uncertainty, due to their fuzzy sets with a crisp degree of membership. In real applications, the consequent part of the fuzzy rules is uncertain. The type-2 FLCs, are robust to the fuzzy rules and the process parameters due to the fuzzy degree of membership functions and footprint of uncertainty (FOU). The adaptivity of the proposed method is provided with the optimum tuning of the parameters using the neural network training algorithms. In our approach, the PID control force is obtained using the generalized type-2 neuro-fuzzy in such a way that the stability and robustness of the controller are guaranteed. The robust performance and stability of the presented framework are demonstrated in a numerical study for an eleven-story seismically-excited building structure combined with an active tuned mass damper (ATMD). The results indicate that the introduced type-2 neuro-fuzzy PID control scheme is effective to attenuate plant states in the presence of the structured and unstructured uncertainties, compared to the conventional, type-1 FLC, type-2 FLC, and type-1 neuro-fuzzy PID controllers.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• 제16권6호
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• pp.472-477
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• 2023

In this paper, we proposes the use of Model Predictive Control (MPC) techniques to enable quadcopter drones to effectively follow paths and maintain flight safety even under dynamic external environments and disturbances. Through simulations conducted in MATLAB/Simulink, the performance of two controllers, PID and MPC, is compared in flight scenarios with disturbances. The proposed design method shows that the MPC controller, when compared to the PID controller, exhibits a difference in the Mean Squared Error between the intended flight path and the actual path of the quadcopter drone. This difference is 0.2 in performance under no disturbance, and it increases to 0.8 under disturbance, demonstrating the improved path following accuracy of the MPC controller.

• Journal of Drive and Control
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• 제21권3호
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• pp.28-35
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• 2024

This study compared performances of PID (Proportional Integral Derivative), SMC (Sliding Mode Control), and MPC (Model Predictive Control) strategies applied to a 2DOF (Degree Of Freedom) drone tracking robot. The developed 2DOF robot utilized a depth camera with an IMU (Inertial Measurement Unit), laser pointers, and servo motors to rapidly detect and track objects. Image processing was conducted using the YOLO deep learning model. Through this setup, controllers were attached to the robot to track random drone movements, comparing performances in terms of accuracy and energy consumption. This study revealed that while SMC demonstrated precise tracking without deviating from the path, both PID and MPC controllers showed deviations. Performance-wise, SMC is superior. However, considering economic aspects, PID is more advantageous due to its lower power consumption and relatively minor tracking errors.

• Journal of the Korean Society of Manufacturing Technology Engineers
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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.

• Journal of Power Electronics
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• 제3권2호
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• pp.115-123
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• 2003

This paper presents analysis, design and simulation for the indirect field orientation control (IFOC) of induction machine drive system. The dynamic performance of the IFOC under nominal and detuned parameters of the induction machine is established. A conventional proportional plus integral-derivative (PI-D) two-degree-of-freedom controller (2DOFC) is designed and analysed for an ideal IFOC induction machine drive at nominal parameters with the desired dynamic response. Varying the induction machine parameters causes a degredation in the dynamic response for disturbance rejection and tracking performance with PI-D 2DOF speed controller. Therefore, conventional controllers can nut meet a wide range of speed tracking performance under parameter variations. To achieve high- dynamic performance, a proposed robust fuzzy logic controllers (RFLC) for d-axis rotor flux, d-q axis stator currents and rotor speed have been designed and analysed. These controllers provide robust tracking and disturbance rejection performance when detuning occurres and improve the dynamic behavior. The proposed REL controllers provide a fast and accurate dynamic response in tracking and disturbance rejection characteristics under parameter variations. Computer simulation results demonstrate the effectiveness of the proposed REL controllers and a robust performance is obtained fur IFOC induction machine drive system.

• Journal of the Korean Society for Precision Engineering
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• 제30권8호
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• pp.831-838
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• 2013

This paper focused on the design of an efficient temperature controller for a plant with a wide range of operating temperatures. The greater the temperature difference a plant has, the larger the nonlinearity it is exposed to in terms of heat transfer. For this reason, we divided the temperature range into five sections, and each was modeled using ARMAX(auto regressive moving average exogenous). The movement of the dominant poles of the sliced system was analyzed and, based on the variation in the system parameters with temperature, optimal control parameters were obtained through simulation and experiments. From the configurations for each section of the temperature range, a temperature-based gain-scheduled controller (TBGSC) was designed for parameter variation of the plant. Experiments showed that the TBGSC resulted in improved performance compared with an existing proportional integral derivative (PID) controller.

• ETRI Journal
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• 제31권6호
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• pp.695-702
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• 2009

We propose a lens-drive unit composed of an ionic polymer-metal composite (IPMC) for an auto-focus compact camera module in cellular phones to solve the power consumption problem of voice coil motors which are widely used in commercial products. In this research, an IPMC incorporated into a lens-drive unit is designed to implement a large displacement in low-power consumption by using an anisotropic plasma treatment. Experimental results show that a camera module containing IPMCs can control and maintain the position of the lens by using proportional integral derivative control with a photo-reflective position sensor despite the non-linear actuation behavior of IPMCs. We demonstrate that the fabrication and commercialization of a lens actuator that has a large displacement and low power consumption using IPMCs is possible in the near future.

• Journal of the Institute of Convergence Signal Processing
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• 제3권4호
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• pp.49-56
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• 2002

In this paper, a new controller using non-linear compensator for position control is presented, which we can satisfy the given specifications more easily than the existing one. We suggest an improved PDFE(Integral with Proportional-Derivative-plus-Feedforward) controller by which both phase margin and bandwidth are controlled simultaneously in the controller design problem. Replacing the feed forward term in the PDFF system with a CDIDF(Complex Dual Input Describing Function), the desired phase margin is obtained without diminishing the bandwidth of the closed loop system. The effectiveness of the proposed controller is confirmed through simulations and experiments. As The results of these, we know that it is possible to adjust overall specifications by varying parameters in the improved PDFF system.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• 제23권12호
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• pp.782-790
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• 2011

Typical temperature control methods of a cooler for machine tools are hot-gas bypass and compressor variable speed control. The hot-gas bypass system has been widely used to control the cooler temperature in many general industrial fields. On the contrary, the compressor variable speed control is focused on special fields such as aerospace and high precision machine tools which need high precision control. The variable speed control system usually has two control variables such as target temperature and superheat. In other words, the variable speed control system is basically multi-input multi-output(MIMO) system. In spite of MIMO system, the proportional integral derivative(PID) feedback control methodology that based on single-input single-output (SISO) system is generally used for designing the variable speed control system. Therefore, it is inevitable to describe transfer functions for dynamic behaviors of every controlled variables and decide the PID gains with tremendous iteration process. Moreover, the designed PID gains do not provide optimum system performances. To solve these problems, high performance controller design method based on a state space model is suggested in this paper. An optimum controller is designed to minimize both control errors and energy inputs. This method was more simple to describe dynamic behaviors and easier to design the cooler controller which is MIMO system.

• Smart Structures and Systems
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• 제20권1호
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• pp.85-97
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• 2017

The aim of this research is to develop a new method to use magnetorheological (MR) damper for vibration control. It is a new way to achieve the MR damper response without the need to have detailed constant parameters estimations. The methodology adopted in designing the control structure in this work is based on the experimental results. In order to investigate and understand the behaviour of an MR damper, an experiment is first conducted. Force-displacement and force-velocity responses with varying current have been established to model the MR damper. The force for upward and downward motions of the damper piston is found to be increasing with current and velocity. In cyclic motion, which is the combination of upward and downward motions of the piston, the force with hysteresis behaviour is seen to be increasing with current. In addition, the energy dissipated is also found to be linear with current. A proportional-integral-derivative (PID) controller, based on the established characteristics for a quarter car suspension model, has been adapted in this study. A fuzzy rule based PID controller (F-PID) is opted to achieve better response for a varying frequency input. The outcome of this study can be used in the modelling of MR damper and applied to control engineering. Moreover, the identified behaviour can help in further development of the MR damper technology.