• 전력전자학회:학술대회논문집
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• 전력전자학회 2016년도 전력전자학술대회 논문집
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• pp.519-520
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• 2016

BLSRM is a nonlinear, strong coupling and multi-variable system. The conventional control method is vulnerable to uncertain factors such as the load disturbance and satellite parameters change. It is difficult to obtain satisfactory control effect. Basing on a 8/10 BLSRM, whose suspending force control is separated with the torque control, this paper presents adaptive fuzzy PID controller for levitation control, which apply the fuzzy logic control to the conventional PID controller for parameters self-tuning. Both fuzzy and parameters of PID controller are self-tuning on-line, which improve the performance of controller. Finally, simulation and experimental results show the performance of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1004-1007
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• 1992

In this paper, we present a solution to the PID tuning problem by optimizing a GPC(General Predictive Control) criterion. The PID structure is ensured by constraning the parameters to a feasible set defined by the discrete-time Euler approximation of the ideal continuous-time PID controller. The algorithm is ectended by incorporating heuristic rules for selection of the significant design parameters. The algorithm has been successfully tested and some results are prewented.

• 대한전기학회논문지
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• 제37권9호
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• pp.646-654
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• 1988

In this paper, a speed controller using a microcomputer is implemented and applied to a DC Servo Motor. Adaptive control is applied to a system for which a priori knowledge to its mathematical model is insufficient, on the basis of input and output data an apropriate controller is constructed through which the system input is synthesized. The pole-placement PID self tuning control algorithms as a control algorithm is used to compare the performance of the controller with that of the classical PID controller through computer simulations and experiments.

• International Journal of Automotive Technology
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• 제4권4호
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• pp.181-191
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• 2003

Since the nonlinearity and uncertainties which inherently exist in vehicle system need to be considered in active suspension control law design, this paper proposes a new control strategy for active vehicle suspension systems by using a combined control scheme, i.e., respectively using a genetic algorithm (GA) based self-tuning PID controller and a fuzzy logic controller in two loops. In the control scheme, the PID controller is used to minimize vehicle body vertical acceleration, the fuzzy logic controller is to minimize pitch acceleration and meanwhile to attenuate vehicle body vertical acceleration further by tuning weighting factors. In order to improve the adaptability to the changes of plant parameters, based on the defined objectives, a genetic algorithm is introduced to tune the parameters of PID controller, the scaling factors, the gain values and the membership functions of fuzzy logic controller on-line. Taking a four degree-of-freedom nonlinear vehicle model as example, the proposed control scheme is applied and the simulations are carried out in different road disturbance input conditions. Simulation results show that the present control scheme is very effective in reducing peak values of vehicle body accelerations, especially within the most sensitive frequency range of human response, and in attenuating the excessive dynamic tire load to enhance road holding performance. The stability and adaptability are also showed even when the system is subject to severe road conditions, such as a pothole, an obstacle or a step input. Compared with conventional passive suspensions and the active vehicle suspension systems by using, e.g., linear fuzzy logic control, the combined PID and fuzzy control without parameters self-tuning, the new proposed control system with GA-based self-learning ability can improve vehicle ride comfort performance significantly and offer better system robustness.

• 대한전자공학회논문지TE
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• 제37권3호
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• pp.60-65
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• 2000

산업공정제어에 지속적으로 널리 사용되는 PID제어기의 최적이득 자동 동조에 관한 새로운 방법을 제안한다. 이 방법은 먼저 제어대상의 계단응답으로부터 모델링된 1차 지연계를 Fade 근사화하고, Ziegler-Nichols의 방법으로 초기값을 정한 후, 최대 오버슈트, 감쇠비, 상승시간, 정정시간을 포함하는 퍼지추론함수를 최대로 하는 PID계수를 구함으로써 제어대상의 특성이나 부동작시간의 변화에도 적응성이 좋다는 장점이 있다

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.41-44
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• 1988

This paper represents the study of an effective self-tuning PID control for a robot manipulator to track a reference trajectory in spite of the presence of nonlinearities and parameters uncertainties in robot dynamic models. In this control scheme, an error model of the manipulator is established, for the first time, by difference between joint reference trajectory and tracked trajectory. It's model Parameters are estimated by the recursive least-square identification algorithm, and classical controller parameters are determined by pole placement method. A computer simulation study was conducted to demonstrate performance of the proposed self-tuning PID control in joint-based coordinates for a robot with payload.

• 융합신호처리학회논문지
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• 제4권4호
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• pp.52-57
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• 2003

PID제어기의 파라미터의 조정 방법이 전문가의 경험적 지식과 플랜트 스텝응답 파형 모양에 기초하여 퍼지 싱글톤 추론에 의해 행하는 방법을 나타내었다. 파라미터 조정방법은 두 레벨이 있다. 높은 레벨은 모델링 할 수 없는 플랜트 특성에 대하여 전문가의 Know-how에 기초하여 제어기의 수정계수를 결정하는 것이다. 저 단계는 Ziegler-Nichol 의 한계 감도법의 응답 특성에 의해 특정 계수를 결정한다. 마지막 단계는 량과 제어응답 파형의 면적법에서 얻은 특정량에서 조정 규칙으로 취하고 퍼지추론에 수정 계수와 특정계수로 조정규칙을 만들어 퍼지 싱글톤 추론에 의해 PID제어기의 각 파라미터를 적정한 값으로 자동조정 하는 법을 나타내었다.

• Journal of Advanced Marine Engineering and Technology
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• 제28권8호
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• pp.1299-1312
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• 2004

This paper suggests the simple form of a fuzzy PID controller and describes the design principle, tracking performance, stability analysis and changes of parameters of a suggested fuzzy PID controller. A fuzzy PID controller is derived from the design procedure of fuzzy control. It is well known that a fuzzy PID controller has a simple structure of the conventional PID controller but posses its self-tuning control capability and the gains of a fuzzy PID controller become nonlinear functions of the inputs. Nonlinear calculation during fuzzification, defuzzification and the fuzzy inference require more time in computation. To increase the applicability of a fuzzy PID controller to digital computer, a simple form of a fuzzy PID controller is introduced by the backward difference mapping and the analysis of the fuzzy input space. To guarantee the BIBO stability of a suggested fuzzy PID controller, ‘small gain theorem’ which proves the BIBO stability of a fuzzy PI and a fuzzy PD controller is used. After a detailed stability analysis using ‘small gain theorem’, from which a simple and practical method to decide the parameters of a fuzzy PID controller is derived. Through the computer simulations for the linear and nonlinear plants, the performance of a suggested fuzzy PID controller will be assured and the variation of the gains of a fuzzy PID controller will be investigated.

• 대한전자공학회논문지
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• 제27권2호
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• pp.55-64
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• 1990

직류 전동기의 위치 및 속도 제어를 위해 그동안 주로 사용해 왔던 고전적인 선형 PID 제어 알고리듬을 사용하여 왔으나, 주위환경의 변화나 부하의 변경 또는 외란과 같은 비션형 요소들로 인해 실제 시스템의 모델링에는 많은 제한이 따랐다. 이 문제를 해결하기 위해 시스템의 모델링 없이 매개변수들을 온라인으로 추정하여 식별할 수 있는 PID 자기 동조기의 설계 방법을 제안하였다. 본 논문에서는 극 배치 PID 자기 동조 제어기의 설계 기법을 제안하고, 각각의 제어기 매개변수들을 추정하기 위하여 순환 최소자승 알고리듬을 사용하야T으며, Diophantine 방정식의 도입으로 인한 4개의 추가매개 변수들을 추정된 제어기 매개변수들을 이용하여 새롭게 유도된 방정식에서 구하였다. 제안된 제어기의 성능을 평가하기 위하여 최소, 비최소 위상 시스템에 대한 시뮬레이션을 하였고 실제 로보트 매니플레이터용 DC 서어보 전동기에 대하여 무부하와 부하 실험을 거쳐 그 특성이 양호함을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.496-500
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• 1993

This paper presents an end-point position control of 1-link flexible robot arm by the PID self-tuning fuzzy algorithm. The governing equation is derived by the extended Hamilton's principle and based on the Bernoullie-Euler beam theory. The governing equation is solved by applying the Laplace transform and the numerical inversion method. The arm is mounted on the translational mechanism driven by a ballscrew whose rotation is controlled by dcservomotor. Tip position is controlled by the PID self-tuning fuzzy algorithm so that it follows a desired position. This paper shows the experimental and theoretical results of tip dispalcement, and also shows the good effects reducing the residual vibration of the end-point.