• 한국산학기술학회논문지
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• 제9권6호
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• pp.1560-1564
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• 2008

산업 자동화의 고정밀도에 따라 직류 전동기는 강인제어가 요구되고 있다. 하지만 PID 제어기를 갖는 전동기 제어 시스템이 부하 외란의 영향을 받게되면 제어 시스템의 강인제어는 어렵게 된다. 이에 대한 보완적인 한 방법으로 본 논문에서는 전동기 제어시스템을 위한 PID-자기동조 제어기법을 제시하였다. 만약 오차가 구속영역 내에 있고, 시스템이 안정한 상태에 있다면 자기동조는 사용되지 않고 PID 제어기만 동작한다. 자기동조 제어기는 오차가 구속 경계에 도달하게 되면 오차를 구속 영역내로 들어가도록 제어를 시작한다. PID-자기동조 제어 시스템의 오차가 시스템 설계자의 허용한도 내에서 유지되고 전체적으로 안정함을 증명하였다.

• 한국인터넷방송통신학회논문지
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• 제11권5호
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• pp.101-106
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• 2011

본 연구는 이산사건 시스템인 제조 시스템에 대하여 사용자 명세서에 따라 충실하게 동작하는 제어기를 설계하는 것이 목적이다. 특히, W. M. Wonham의 감독제어 이론을 기반으로 병렬처리가 가능한 패트리 넷을 이용한 제어기를 설계하는 것이다. 또한, 패트리 넷을 이용한 설계 시 고려해야 할 문제 중 공유하는 자원의 할당에 관한 문제를 다루고자 한다. 공유자원에 대한 처리를 사용자 명세서로 제시하고 제시한 패트리 넷으로 모델링하여 합성하면 제어기가 생성된다. 이렇게 생성된 제어기는 공유하는 자원이 있는 경우에 발생가능 한 교착상태(deadlock)와 기아상태(Starvation)에 대한 제어가 가능하다. 선행연구에서는 페트리 넷의 두 모델을 합성하는 방법으로 동기식 도달성 그래프를 제안하였다. 따라서 본 연구에서는 그 결과를 이용하여 교착상태와 기아상태를 예방한 제어된 시스템을 설계하여 제시하고자 한다.

• Journal of Mechanical Science and Technology
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• 제16권8호
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• pp.1039-1052
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• 2002

This paper presents an application where a Fuzzy-Logic Controller (FLC) is used at a supervisory level to implement mutual coordination of the steering of the two front wheels of a motorcar. The two front wheels are steered by two independent discrete time state feedback controllers with a view to optimize the steering slip angles. The functions of the two controllers are tied together by way of a FLC. Because of the presence of unmodelled dynamics and disturbances acting on the two sides, it is difficult to achieve the desired performance using conventional control systems. This is the primary reason that FLC is emploged to solve the problem. The results show that the implemented system achieved desired coupling between the two independent systems and thereby reduces the difference between the two steered angles.

• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2008년도 춘계학술발표논문집
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• pp.192-195
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• 2008

Robust control for DC motor is needed according to the highest precision of industrial automation. However, when a motor control system with PID controller has an effect of load disturbance, it is very difficult to guarantee the robustness of control system. In this paper, PID-Expert hybrid control method for motor control system as a compensation method solving this problem is presented. If PID control system is stable, the Expert controller is idle. if the error hits the boundary of the constraint, the Expert controller begins operation to force the error back to the constraint set. The disturbance effect decrease remarkably, robust speed control of DC motor using PID-Expert Hybrid controller is demonstrated by the simulation.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2008년도 한국컴퓨터종합학술대회논문집 Vol.35 No.1 (B)
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• pp.473-478
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• 2008

산업계에서의 제어시스템(Control System)은 크게 SCADA(Supervisory Control And Data Acquisition) 시스템, 분산 제어시스템(Distributed Control System, DCS), PLC 시스템 (Programmable Logic Controller System)으로 분류할 수 있다. 특히 전력분야의 SCADA 시스템은 목적상 실시간의 대규모 측정 정보 취득을 목적으로 운영되며, 실시간 및 이력 데이터베이스, 원격 데이터 취득, 다양한 데이터 처리, Supervisory Control 등 복잡한 기능과 다양한 전력시스템과의 정보교환이 요구된다. 다양한 전력시스템과의 정보 교환을 위한 표준화 요구에 부응하여, 향후 전력시스템은 표준화되고 공개된 정보모델을 활용한 통합시스템 개발이 요구된다. 본 논문에서는 전력 공통정보모델(CIM)과 애플리케이션 통합 정보기술을 이용한 전력시스템의 메시지 통합버스 설계에 대하여 기술하고자 한다.

• 대한전기학회논문지
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• 제45권1호
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• pp.100-112
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• 1996

This paper presents a design experience of a control language for coordination of a multi-robot system. To effectively program job commands, a Petrinet-type Graphical Robot Language(PGRL) is proposed, where some functions, such as concurrency and synchronization, for coordination among tasks can be easily programmed.In our system, the proposed task commands of PGRL are implemented by employing formal model languages, which are composed of three modules, sensory, data handling, and action module. It is expected that by using our proposed PGRL and formal languages, one can easily describe a job or task, and hence can effectively operate a complex real-time and concurrent system. The control system is being implemented by using VME-based 32-bit microprocessor boards for supervisory, each module controller(arm, hand, leg, sensor data processing module) and a real time multi-tasking operating system(VxWorks). (author). 17 refs., 16 figs., 2 tabs.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2045-2047
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• 2001

In this paper, we proposed the representation method of specification and the control rules fork FMS by TPL. To increase productivity and resource utilization, it is desirable to have more active jobs in the system, but the more active jobs there are, the more easily deadlock occur. Therefore, it is very important that the real-time deadlock control to disable deadlock. In this paper, we performed the system modeling by the CROPN(Colored Resource -Oriented Petri Net) and the necessary -sufficient condition check to disable deadlock. We proposed the supervisory control system that can be the real-time monitoring for deadlock free through a necessary-sufficient condition by CROPN modelling, and designed the logic controller of the extended process using TPL.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.103-106
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• 1996

This paper presents an iterative fuzzy learning control scheme which is applicable to a broad class of nonlinear systems. The control scheme achieves system stability and boundedness by using the linear feedback plus adaptive fuzzy controller and achieves precise tracking by using the iterative learning rules. The switching mode control unit is added to the adaptive fuzzy controller in order to compensate for the error that has been inevitably introduced from the fuzzy approximation of the nonlinear part. It also obviates any supervisory control action in the adaptive fuzzy controller which normally requires high gain signal. The learning control algorithm obviates any output derivative terms which are vulnerable to noise.

• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.967-973
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• 2009

The model matching problem of asynchronous sequential machines is to design a corrective controller such that the stable-state behavior of the closed-loop system matches that of a prescribed model. In this paper, we address model matching when the external input set consists of controllable inputs and uncontrollable ones. Like in the frame of supervisory control of Discrete-Event Systems (DES), uncontrollable inputs cannot be disabled and must be transmitted to the plant without any change. We postulate necessary and sufficient conditions for the existence of a corrective controller that solves model matching despite the influence of uncontrollable events. Whenever a controller exists, the algorithm for its design is outlined. To illustrate the physical meaning of the proposed problem, the closed-loop system of an asynchronous machine with the proposed control scheme is implemented in VHDL code.

• 제어로봇시스템학회논문지
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• 제5권7호
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• pp.868-875
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• 1999

In this paper, digital motor control center using protection relay is developed in order to protect power systems by means of timely fault detection and diagnosis during operation for induction motor which have various load environments and capacities in power systems. Digital motor control center is employed by power supervisory control systems without separate remote terminal unit and transducers adding communicational ability. Also we develope a maximum demand controller to control the load effectively at peak status and a power factor controller to minimize real power losses and improve the power factor. Therefore, when using the developed controller, real time computation is possible by loading DSP in hardware and applying real-time kernel which can convert each algorithm to task module.