• 한국융합학회논문지
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• 제1권1호
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• pp.17-21
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• 2010

본 논문에서는 실시간 웹 서비스 시스템에서 과부하를 조절하는 기법을 제안한다. 기존의 많은 기법은 단순히 웹 연결 수를 조절하여 과부하를 방지한다. 이는 웹서버의 요청 처리를 위한 추가적인 웹 태스크의 생성을 조절하는 것만 가능하고, 이미 생성된 웹 태스크나 내부 디바이스의 최신 상태를 알려주기 위해서 주기적 동작하는 내부의 실시간 태스크 등에 대해서는 과부하 방지를 위한 아무런 조치를 취하고 있지 않다. 본 논문에서는 주기적 동작하는 내부의 실시간 태스크 등에 대해서도 동적으로 부하를 반영할 수 있는 제어기를 설계한다. 설계된 제어기를 적용한 피드백제어 시스템을 구성하여 안정된 부하 조절이 가능함을 확인하였다.

• 전기학회논문지P
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• 제58권2호
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• pp.130-135
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• 2009

In recent years, researches on rotary inverted pendulum control systems have been significantly focused due their highly nonlinear dynamics and complicated geometric structures. This paper presents a novel control approach for such systems by means of similarity transformation theory. At first, we represent nonlinear system dynamics to the controllability-formed state space model including a time-varying parameter vector. We establish the state-feedback control configuration based on the transformed model and derive an adaptive control law for adjusting desired characteristic equation. Numerical analysis is achieved to evaluate our control method and demonstrate its superiority by comparing it to the traditional control strategy. Furthermore, real-time control experiment is carried out to test its practical reliability.

• 한국해양공학회지
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• 제9권2호
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• pp.30-40
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• 1995

In this paper, it is proposed a robust control scheme for real time control of a robot manipulator with parameter uncertainties. The focus of this paper is a new approach of multivariable control schemes for an assembly robot manipulator to achieve the accurate trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and feedback controller. In this control scheme, the feedback controller consists of proportional-derivative type and is designed by the pole placement method. The feedforward controller uses the inverse of the linealized model of robot manipulator dynamics. This feedback controller ensures that each joint enables to track any reference trajectory. The proposed robot controller scheme has a computational efficiency.

• 제어로봇시스템학회논문지
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• 제4권2호
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• pp.157-162
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• 1998

This paper provides some properties of positive real systems in time domain. It is well-known that a positive real system and a bounded real system are closely related by bilinear transform in a frequency domain. By using supply rate and storage function, we show that a positive real system can be transformed into a bounded real system, and that a positive real system can be transformed into another positive real system with in a time domain. Also, we show that an ESPR(extended strictly positive real) system can be decomposed into a feedback system of lossless positive real system and another ESPR system. These results may be used to design an output feedback controller for mixed H$H_2$ESPR problem.

• 소음진동
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• 제11권1호
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• pp.147-155
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• 2001

This paper is concerned with the real-time automatic tuning of the multi-input multi-output positive position feedback controllers for smart structures by the genetic algorithms. The genetic algorithms have proven its effectiveness in searching optimal design parameters without falling into local minimums thus rendering globally optimal solutions. The previous real-time algorithm that tunes a single control parameter is extended to tune more parameters of the MIMO PPF controller. We employ the MIMO PPF controller since it can enhance the damping value of a target mode without affecting other modes if tuned properly. Hence, the traditional positive position feedback controller can be used in adaptive fashion in real time. The final form of the MIMO PPF controller results in the centralized control, thus it involves many parameters. The bounds of the control Parameters are estimated from the theoretical model to guarantee the stability. As in the previous research, the digital MIMO PPF control law is downloaded to the DSP chip and a main program, which runs genetic algorithms in real time, updates the parameters of the controller in real time. The experimental frequency response results show that the MIMO PPF controller tuned by GA gives better performance than the theoretically designed PPF. The time response also shows that the GA tuned MIMO PPF controller can suppress vibrations very well.

• Journal of Mechanical Science and Technology
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• 제20권10호
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• pp.1680-1690
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• 2006

As a promising and novel manufacturing technology, laser aided direct metal deposition (DMD) process produces near-net-shape functional metal parts directly from 3-D CAD models by repeating laser cladding layer by layer. The key of the build-up mechanism is the effective control of powder delivery and laser power to be irradiated into the melt-pool. A feedback control system using two sets of optical height sensors is designed for monitoring the melt-pool and real-time control of deposition dimension. With the feedback height control system, the dimensions of part can be controlled within designed tolerance maintaining real time control of each layer thickness. Clad nugget shapes reveal that the feedback control can affect the nugget size and morphology of microstructure. The pore/void level can be controlled by utilizing pulsed-mode laser and proper design of deposition tool-path. With the present configuration of the control system, it is believed that more innovation of the DMD process is possible to the deposition of layers in 3-D slice.

• Journal of Advanced Marine Engineering and Technology
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• 제11권4호
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• pp.41-49
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• 1987

Recently microcomputers have come into wide use in the field of control. They are used not only as monitors and or controllers in various plant control systems but also for Computer Aided Design of control systems. In this paper, authors propose a method to design the reduced order observers for the higher order systems and have digital simulation of time responses of the optimal state feedback control system using the maximum principle. And the real time optimal state feedback control system for the third order plant which is realized by an anolog computer is constructed by means of a microcomputer, A/D converter and D/A converter. Time responses of the real time control system are compared with those obtained by the digital simulation and their well coincedence is confirmed.

• 한국산업융합학회 논문집
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• 제17권3호
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• pp.136-144
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presents how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• 대한전기학회논문지
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• 제43권2호
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• pp.259-267
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• 1994

This paper describes a current control of a single-phase PWM inverter. The proposed PWM inverter utilizes the instantaneous control method which is based on the real-time digital feedback control and the microprocessor-based deadbeat control. The deadbeat current controller is proposed to control the output current regardless of load component variations by the same method as voltage control. That is, in current control, with a very short sampling time and the successive feedback of the output current, the load current is mainly effected by the magnitude of load impedance rather than load component, the load current is mainly effected by the magnitude of load impedance rather than load component. Therefore, by treating the load as an impedance, the system's order is reduced and the instantaneous current control using the proposed deadeat controller is simplified.

• 한국멀티미디어학회논문지
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• 제2권3호
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• pp.339-346
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• 1999

다자간 회의 시스템의 대부분은 RTP(Real Time Protocol)와 RTCP(Real Time Control Protocol)를 이용 하는데,RTCP를 이용한 피드백 정보의 손실률과 전송 시간의 동기화 현상이 다자간 회의 시스템의 확장성에 큰영향을 준다. 이러한 문제를 해결하기 위해서 도입한 무작위 지연 기법은 매우 단순하여 수 많은 참가자들이 동시에 피드백 정보를 전송할 경우 혼잡을 일으키게 되어 확장성이 떨어진다. 본 논문에서는 확장성 증가와 피드백 지연을 줄이기 위해 RTCP에 우선 순위를 부여하여 전송하는 기법올 제안하고 알고리즘을 제시한다. RTCP 헤더 정보를 분석하여 손실률이 높은 수신자에게 우선 순위를 부여한다. 에이전트는 우선 순위에 따라 피드백 메시지를 더 많이 전송함으로써 세션 참가자를 능동적으로 조절함과 동시에 적절한 가용 대역폭을 측정하게 한다. 시뮬레이션으로 평가한 결과 제안된 확장적 우선 순위 기법을 적용할 때 초기 전송 혼잡을 감소시키며 피드백 메시지가 특정 시간에 편중하지 않고 균일하게 분포되었다.