• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.52 no.12
• /
• pp.616-623
• /
• 2003

Conventional P/PI speed controller of today's servo drives should be manually tuned the controller switching set-point by trial-and-errors, which may translate the drive system down-time and loss of productivity. The adjustable drive performance is heavily dependent on the quality of the expert knowledge and becomes inadequate in applications where the operating conditions change in a wide range, i.e., tracking command, acceleration/deceleration time, and load disturbances. In this paper, the demands on simple controls/setup are discussed for industry servo drives. Analyzing the frequency content of motor torque command, P/PI control mode switching is automatically performed with some prior knowledge of the mechanical dynamics. The dynamic performance of the proposed scheme assures a desired tracking response curve with minimal oscillation and settling time over the whole operating conditions. For comprehensive comparison of traditional P/PI control scheme, extensive test is carried out on actual servo system.

• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.51 no.4
• /
• pp.195-202
• /
• 2002

The high performance position controller named 'Unified PID Position Controller'is presented in part 1 of this paper. In part 2, we provide smart gain adjustment methods including the freedom utilizations for rare sensitivity toward the system parameter variation and for increasing the stiffness of the system. Owing to the provided gain tuning strategy, the overall system characteristics can be stabilized without over-shoot phenomena when the system parameter is changed in the rate of from 0.5 to 2∼4. Moreover, for the actual feasibility to the industrial fields, a simple butt effective anti-windup strategy prohibiting the integral component of the PID position controller from saturation is presented too. All of the presented algorithms are verified through the experiment works with commercial linear motor.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.229-234
• /
• 1992

This paper presents a compensator design method for multivariable feedback control systems with saturating actuators based on the concept of the equilibrium point. Am explicit expression for the compensation matrix of the general anti-reset windup(ARW) scheme is derived by minimizing the distances between the equilibrium points. The resulting dynamics of the compensated controller exhibits the reduced model form of the unsaturated system which can be obtained by the singular perturbational method. The proposed method is applicable to any open-loop stable plants with saturating actuators whose controllers are determined by some design technique. An example is given to show the effectiveness of the proposed method.

• Proceedings of the KIPE Conference
• /
• 2003.07b
• /
• pp.820-823
• /
• 2003

In this paper, we describe a design procedure for cascade controller for induction motor drives based on Genetic Algorithms(GAs). Most electric drives have two separate controllers for current and speed control, which are in general designed in two consecutive steps(firstly the current controller and then the speed controller). We search simultaneously for the couple of discrete anti-windup controllers achieving the optimal compromise of weighted cost and performance indices related to both current and speed responses.

• Proceedings of the KIEE Conference
• /
• 1999.11b
• /
• pp.384-388
• /
• 1999

This paper presents auto-tuning to compensate the integrator windup of the current and the speed PID controller of DC motor, which suppress the overshoot of transient response without delay of rising time. The simulation results using Matlab show the validity of auto-tuning methods.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.519-519
• /
• 2000

Since the dynamics of the slave manipulator with high reduction ratio joints is likely to be much slower than that of the master manipulator, the control input the slave manipulator is so frequently saturated. This paper proposes a bilateral teleoperation control scheme for 2-DOF manipulators with high reduction ratio joints, which can effectively compensate the control input saturation. In the proposed scheme, the controllers of the slave manipulator are designed with an anti-windup feature and forces caused by the saturation are reflected to the operator holding the operating handle of the master manipulator. When the control input of the slave manipulator is saturated, the master manipulator moves slowly file to tile reflected forces. In this way, the position tracking performance of the slave manipulator with high reduction ratio joints can be enhanced regardless of saturation. The proposed scheme is shown to give excellent position tracking performance through a series of experiments.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.39 no.11
• /
• pp.1207-1218
• /
• 1990

The lack of persistent excitation (PE) can be the reason of freezing in the recursive least square estimators and the covariance windup in the exponential weighted least square estimators. We present a theoretical analysis of these phenomena and a simple method to check the exciting condition in real time. Using these results and under some conditions such as slowly time varying Plant and a tracking problem for set point, a robust self-tuning regulators without PE is proposed. In this algorithm, when PE is not satisfied, only plant gain is estimated, and then the system parameters are corrected by it. It is shown that the gain adaptive scheme makes the robustness to be improved against modeling error, off-set, and correlated noise etc, by the results of analysis and simulations.

• Proceedings of the KIEE Conference
• /
• 2006.07b
• /
• pp.1051-1052
• /
• 2006

This paper deals with mathmatical of an induction motor, considering non-linearity in the torque balance equation under closed loop operation with a reference speed. A controller based on Adaptive Nuro-Fuzzy Inference System (ANFIS) is developed to minimize overshoot and settling time following sudden changes in load torque. The overall system is modeled and simulated using the Matlab/simulink and Fuzzy Logic Toolbox. The advantages of fuzzy logic and neural network based fuzzy logic controller. Required training data the ANFIS controller is generated by simulation of the anti-windup PI controller is eliminated using the ANFIS controller. The transient deviation of the response from the set reference following variation in load torque is found to be negligibly samll along with a desirable reduction in settling time for the ANFIS controller.

• Nuclear Engineering and Technology
• /
• v.35 no.3
• /
• pp.214-225
• /
• 2003

A teleoperated manipulator system has been developed for remote handling of the spent fuel bundles. A heavy-duty power manipulator with high reduction ratio joints is used for the slave manipulator in the developed system since the handling tasks of the spent fuel bundles need power. Also, the universal type master manipulator, which has force reflecting capability, is used for precise remote manipulation. The power manipulators so frequently occur the control input saturation that the precise control performances are not achieved due to the windup phenomenon. An advanced bilateral control scheme compensating for the saturation is applied to the teleoperated manipulator system. The validity of the developed system is verified by the grid cutting and fuel transportation tasks from the mockup spent fuel bundle.

• Proceedings of the KIEE Conference
• /
• 2007.10a
• /
• pp.295-296
• /
• 2007

본 논문에서는 무인화 ATV 엔진 액츄에이터의 시스템 특수성을 고려한 PID 제어기의 설계를 통하여 종방향 구동을 담당하는 DC 모터의 위치제어 성능을 향상시켰다. DC 모터의 문턱 전압과 마찰력으로 인한 데드존(Dead zone)을 고려하였으며, DC 모터에 연결된 액츄에이터 와이어에 의한 복원력에 대한 영향을 최소화 시켰다. 또한 DC모터의 위치를 판별하는 엔코더의 분해능을 감안하여 제어기 설계에 반영하였고, 실험을 통하여 성능을 검증하였다.