• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.8 no.1
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• pp.53-56
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• 1994

PID controller is being used in many servo control systems. However, when a control system has disturbance or time variable characteristic, it is very difficult to guarantee the robustness of the system. In the way of solving this problem, in this paper, a control method using the PID controller with Fuzzy Logic Regulator is presented. Fuzzy Logic Regulator is designed by error and error change, the kth sampling control input is decided by the addition of the kth sampling defuzzification value and the (k-l)th sampling defuzzification value. Control input is transmitted to input. The robust control function of Fuzzy Logic Regulator is demonstrated by the computer simulation.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.8 no.3
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• pp.88-95
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• 1994

A scheme of IESFVSC(Integral Error State Feedback Variable Structure Controller) is proposed for a DC servo position control system with the disturbances which do not satisfy the matching condition. The proposed control system is composed of servo compensator and state feedback VSC. The servo compensator enhances the robustness of the control system against various types of disturbance, and makes effective tracking possible without using error dynamics. The IESFVSC is applied to the practical design of a robust DC servo control system and the control performances are verified through theoretical analyses and simulations.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.6
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• pp.1574-1580
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• 2008

In this paper, to bring under robust and accurate control of auto-equipment systems which disturbance, parameter alteration of system, uncertainty and so forth exist, neural network controller called dynamic neural processor(DNP) is designed In order to perform a elaborate task like as assembly, manufacturing and so forth of components, tracking control on the trajectory of power coming in contact with a target as well as tracking control on the movement course trajectory of end-effector is indispensable. Also, the learning architecture to compute inverse kinematic coordinates transformations in the Plants of auto-equipment systems is developed and the example that DNP can be used is explained. The architecture and learning algorithm of the proposed dynamic neural network, the DNP, are described and computer simulations are provided to demonstrate the effectiveness of the proposed learning method using the DNP.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.6
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• pp.1560-1564
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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-Self Tuning control method for motor control system as a compensation method solving this problem is presented. If the PID control system is stable in the sense that the error is inside the constraint set, the supervisory control is idle. If the error hits the boundary of the constraint, the supervisory controller begins operation to force the error back to the constraint set. We prove that the PID-Self Tuning control system is globally stable in the sense that the error is guaranteed to be within the tolerance limits specified by the system designer.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.1-10
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• 2017

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.12 no.4
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• pp.70-74
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• 1998

Robust control for DC motor is needed according to the highest precision of industrial automation. However, when a motor control system with PID contoller has an effect of load disturbance, it is very difficult to guarantee the robustness of control system. In this paper, PID-supervision hybrid control methods for motor control system (without the supervisory controller) is stable in the sense that the error is inside the constraint set, the supervisory control is idle. If the error hits the boundary of the constraint, the supervisory controller beings operation to force the error back to the constraint set. We prove that the PID-supervision hybrid control system is globally stable in the sense that the error is guaranteed to be within the tolerance limits specified by the system designer.

• Proceedings of the KIEE Conference
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• 2005.07b
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• pp.1453-1455
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• 2005

This paper presents self tuning PI controller of IPMSM drive using neural network. Self tuning PI controller is developed to minimize overshoot, rise time and settling time following sudden parameter changes such as speed, load torque and inertia. Also, this paper is proposed speed control of IPMSM using neural network and estimation of speed using artificial neural network(ANN) controller. The results on a speed controller of IPMSM are presented to show the effectiveness of the proposed gain tuner. And this controller is better than the fixed gains one in terms of robustness, even under great variations of operating conditions and load disturbance.

• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.334-336
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• 1995

An adaptive feedback linearization technique of a PM synchronous motor with specified output dynamic performance is proposed. The adaptive parameter estimation is achieved by a model reference adaptive technique where the stator resistance and flux linkage can be estimated with the current dynamic model and the state observer. Using these estimated parameters, the linearizing control inputs are calculated and a nonlinear coupled model of a PM synchronous motor is input-output linearized. The resultant model has the load torque disturbance. To get ti perfect decoupled model, the load torque is estimated. The adaptation laws are derived by the hyperstability theory and positivity concept. The robustness of the proposed control scheme will be proven through the computer simulations.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.306-309
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• 2005

This parer describes the tracking control simulation of 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. For the Joint coordinate-based control which uses lengths of each actuator, the trajectory conversion process inverse kinematics is performed. Applying the Newton-Euler approach, the dynamic equation of the shaking table is derived. To cope with nonlinear problems, time-delay control(TDC) is considered, which has been noted for its exceptional robustness to parameter uncertainties and disturbance, in addition to steady-state accuracy and computational efficiency. If the nominal model is equal to the real system, joint coordinate-based control can be very efficient. However, manufacturing tolerances installation errors and link offsets contaminate the nominal values of the kinematic parameters used in the kinematic model of the shaking table. To compensate differences between the nominal model and the real system. the joint coordinate-based control using acceleration feedback in the Cartesian coordinate space is proposed.

• Smart Structures and Systems
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• v.13 no.2
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• pp.305-318
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• 2014

This paper numerically investigates the feasibility of an active mass damper (AMD) system using the time delay control (TDC) algorithm, which is one of the robust and adaptive control algorithms, for effectively suppressing the excessive vibration of a building structure under wind loading. Because of its several attractive features such as the simplicity and the excellent robustness to unknown system dynamics and disturbance, the TDC algorithm has the potential to be an effective control system for mitigating the vibration of civil engineering structures such as buildings and bridges. However, it has not been used for structural response reduction yet. In this study, therefore, the active control method combining an AMD system with the TDC algorithm is first proposed in order to reduce the wind-induced vibration of a building structure and its effectiveness is numerically examined. To this end, its stability analysis is first performed; and then, a series of numerical simulations are conducted. It is demonstrated that the proposed active structural control system can effectively reduce the acceleration response of the building structure.