• Title/Summary/Keyword: feed controller

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A Self-Organizing Fuzzy Control Approach to the Driving Control of a Mobile Robot (자기구성 퍼지제어기를 이용한 이동로봇의 구동제어)

  • Bae, Kang-Yul
    • Journal of the Korean Society for Precision Engineering
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    • v.23 no.12 s.189
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    • pp.46-55
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    • 2006
  • A robust motion controller based on self-organizing fuzzy control(SOFC) and feed-back tracking control technique is proposed for a two-wheel driven mobile robot. The feed-back control technique of the controller guarantees the robot follows a desired trajectory. The SOFC technique of the controller deals with unmodelled dynamics of the vehicle and uncertainties. The computer simulations are carried out to verify the tracking ability of the proposed controller with various driving situations. The results of the simulations reveal the effectiveness and stability of the proposed controller to compensate the unmodelled dynamics and uncertainties.

Development of Feed Controller Using Synchronization Algorithm (동기화 알고리즘을 이용한 피드컨트롤러 개발)

  • Lee, Chae-Wook
    • Journal of the Institute of Convergence Signal Processing
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    • v.19 no.4
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    • pp.162-166
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    • 2018
  • Companies that use automatic feeder systems use multiple feeders in close proximity to each other for mass production. Unlike when the feeder is used independently, it does not oscillate to a value that is set to offset or freeze due to symbiosis caused by asynchronous forces hitting each other. This may result in the shipment being damaged by hitting each other or thrown to one side, preventing the transport from being moved to the next process. Whenever an unstable resonance occurs, the operator must reset the value of each feed controller or operate it several times. To address these problems, this paper proposes synchronization algorithm suitable for feed controllers using multiple units and tests are used to confirm performance improvements.

Design of Active Magnetic Bearing System for Moving Vehicles (이동 차량 탑재용 전자기 베어링 시스템 설계)

  • Kim, Ha-Yong;Sim, Hyun-Sik;Lee, Chong-Won;Kang, Tae-Ha
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.15 no.3 s.96
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    • pp.364-370
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    • 2005
  • The active magnetic bearing (AMB) systems mounted in moving vehicles are exposed to the disturbances due to the base motion, often leading to malfunction or damage as well as inaccurate positioning of the systems. Thus, in the controller design of such AMB systems, robustness to base disturbances becomes an essential requirement. In this study, effective control schemes are proposed for the homo-polar AMB system, which uses permanent magnets for generation of bias magnetic flux, when it is subject to base motion, and its control performance is experimentally evaluated. The base motion of AMB system is modeled as the dynamic disturbances in the gravity and base excitation forces. To effectively compensate for the disturbances, the angle feed-forward controller based on the inverse dynamic model and the acceleration feed-forward controller based on the normalized filtered-X LMS algorithm are proposed. The performance test of the prototype AMB system is carried out, when the system is mounted on rate table. The experimental results show that the performance of the proposed controllers for the AMB system is satisfactory in compensating for the disturbances due to the base motion.

Design of active magnetic bearing system for moving vehicles (이동 차량 탑재용 전자기 베어링 시스템 설계)

  • Kim, Ha-Yong;Sim, Hyun-Sik;Lee, Chong-Won;Kang, Tae-Ha
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2004.11a
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    • pp.486-489
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    • 2004
  • The active magnetic bearing (AMB) systems mounted in moving vehicles are exposed to the disturbances due to the base motion, often leading to malfunction or damage as well as inaccurate positioning of the systems. Thus, in the controller design of such AMB systems, robustness to base disturbances becomes an essential requirement. In this study, effective control schemes are proposed for the homo-polar AMB system, which uses permanent magnets for generation of bias magnetic flux, when it is subject to base motion, and its control performance is experimentally evaluated. The base motion of AMB system is modeled as the dynamic disturbances in the gravity and base excitation forces. To effectively compensate for the disturbances, the angle feed-forward controller based on the inverse dynamic model and the acceleration feed-forward controller based on the normalized filtered-X LMS algorithm are proposed. The performance test of the prototype AMB system is carried out, when the system is mounted on rate table. The experimental results show that the performance of the proposed controllers for the AMB system is satisfactory in compensating for the disturbances due to the base motion.

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Co-design of the LCL Filter and Control for Grid-Connected Inverters

  • Zhang, Yu;Xue, Mingyu;Li, Minying;Kang, Yong;Guerrero, Josep M.
    • Journal of Power Electronics
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    • v.14 no.5
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    • pp.1047-1056
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    • 2014
  • In most grid-connected inverters (GCI) with an LCL filter, since the design of both the LCL filter and the controller is done separately, considerable tuning efforts have to be exerted when compared to inverters using an L filter. Consequently, an integrated co-design of the filter and the controller for an LCL-type GCI is proposed in this paper. The control strategy includes only a PI current controller and a proportional grid voltage feed-forward controller. The capacitor is removed from the LCL filer and the design procedure starts from an L-type GCI with a PI current controller. After the PI controller has been settled, the capacitor is added back to the filter. Hence, it introduces a resonance frequency, which is identified based on the crossover frequencies to accommodate the preset PI controller. Using the proposed co-design method, harmonic standards are satisfied and other practical constraints are met. Furthermore, the grid voltage feed-forward control can bring an inherent damping characteristic. In such a way, the good control performance offered by the original L-type GCI and the sharp harmonic attenuation offered by the latter designed LCL filter can be well integrated. Moreover, only the grid current and grid voltage are sensed. Simulation and experimental results verify the feasibility of the proposed design methodology.

Cutting Force Control Using A Two Degree-of-Freedom Controller in Ball-end Milling Processes (CNC 볼엔드밀링 공정에서 2자유도 제어기를 이용한 절삭력 제어)

  • 양호석;심영복;이건복
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2002.05a
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    • pp.219-224
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    • 2002
  • There are two important variables in machining process control, which are feed and cutting speed. In this work, a two degree-of-freedom controller is designed and implemented to achieve on-line cutting force control based on the modelling of cutting process dynamics which are established through step response test. Two schemes are proposed and implemented. The first is feed control under the constant spindle speed and spindle speed control under the constant fled speed. The second is a simultaneous control of feed and spindle speed. Those are confirmed to work properly. Especially the latter shows a faster response and we'll be evaluated to pare away workpiece by simultaneous control of position and cutting farce sooner or later.

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Dynamic Characteristics Control of a Step-down Chopper Using Load current Feed-forward Compensator (부하전류 전향보상기를 이용한 강압쵸퍼의 동특성 제어)

  • Chung, Chun-Byung;Chun, Ji-Yong;Jeon, Kee-Young;Han, Kyung-Hee
    • Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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    • 2008.05a
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    • pp.66-69
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    • 2008
  • In this paper, The author present a load current feed-forward compensator by method that improve voltage controller of Step-down Chopper to get stable output voltage to sudden change of load current. To confirm the characteristicsof a presented load current feed -forward compensator compared each transfer function of whole system that load current feed-forward compensator is added with transfer function of whole system that existent voltage controller is included using Mason gains formula in Root locus and Bode diagram. As a result the pole of system is improved, extreme point of the wave and system improves, and size of peak value and phase margin of break frequency in resonance frequency confirmed that is good. Therefore, presented control technique could confirm that reduce influence by perturbation and improves stationary state and dynamic characteristics in output of Step-down Chopper.

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The Development of Feed-Water Flow Controller of Boiler Feed-Water Pump in 500MW Class Coal-Fired Power Plant (500MW급 석탄화력발전소 보일러 급수펌프 유량 제어기 개발)

  • Lim, Geon-Pyo;Choi, In-Kyu;Park, Doo-Yong;Jeong, Tae-Won;Kim, Gun-Jung
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.59 no.9
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    • pp.1663-1672
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    • 2010
  • The boiler feed-water pump controllers which can be applied to 500MW class coal fired power plants was developed. The validity of the developed controllers was shown via the applied test result in a power plant. It is expected that the developed controllers are used to retrofit the existing controllers that have surpassed their expected service life and have limited spare parts, and contributes to the stable operation of plants. Based on the collected data and analysis, new control schemes were developed and implemented during the overhaul period in the new control systems. During normal operation, feed water could be supplied to the boiler with the capability of the 1600t/h flow without any problems in automatic mode of controllers. In this study, the feed-water pump controllers were developed successfully. In addition, it is expected that the developed controllers can make the plant operation more stable and can be applied to a lot of power plants.

A study on the optimal tuning of the hydraulic motion driver parameter by using RCGA (유압 모션 제어기의 최적 제어인자 튜닝에 관한 연구)

  • Shin, Suk-Shin;Noh, Jong-Ho;Park, Jong-Ho
    • Journal of Advanced Marine Engineering and Technology
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    • v.38 no.1
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    • pp.39-47
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    • 2014
  • In this study, 2 degree of freedom PID controller is added to the conventional feed-forward controller for the purpose of improving its limitations such as set-point of tracking performance and disturbance suppression performance in the conventional PID controller. And the controller parameters optimization as a Real Coded Genetic Algorithm (RCGA) is used. Simulation and experiments verify the performance of the controller.

Robust Disturbance Suppression Control for AC Servo Motors (AC 서보모터에 대한 견실한 외란억제 제어)

  • Kim, Chang-Hwan
    • The Journal of the Korea institute of electronic communication sciences
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    • v.7 no.4
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    • pp.839-848
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    • 2012
  • In this paper, we propose a robust control scheme of AC servo motors to suppress disturbance torques effectively. The proposed controller consists of both a model based feed-forward controller and a stabilizing feedback controller. The feed-forward controller is designed such that the output of the nominal plant tracks perfectly the reference velocity command with desired dynamic characteristics. The feedback controller stabilizes the overall closed loop system. Furthermore, the feedback controller contains a free function that can be chosen arbitrarily. The free function can be designed so as to achieve both suppression of disturbances and robustness to model uncertainties. In order to illuminate the superior performance of the proposed control scheme to the conventional ones, we present some simulation results.