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문봉호,양경욱,김현태 여수대학교 1999 論文集 Vol.14 No.2
In this study, a control scheme of a repetitive pressure control of hydraulic system using proportional control valve in electro-hydraulic system has been suggested. The repetitive pressure control of hydraulic cylinder was carried out using a system consisting of a proportional type valve with a built in overlaptype 3-way valve, one pressure sensor and personal computer. For the repetitive pressure control by using proportional pressure control valve, we adopted a preview controller and learning controller. Because the Preview -Learning controller has merit of the preview controller and learning controller, the control performance of a repetitive pressure for the hydraulic system which is to be unstable easily is excellent. Through numerical simulation results of the hydraulic system with the preview- learning controller, the validity of this control method has been confirmed.
정규홍(G. H. Jung),이호준(H. J. Lee),김광인(K. I. Kim) 유공압건설기계학회 2021 유공압건설기계학회 학술대회논문집 Vol.2021 No.11
Recently, automatic transmissions realize good shift quality by implementing advanced shift control algorithms in TCU firmware using embedded control technology with microcontrollers. In clutch-to-clutch shifting in which one friction element is released and the other friction element is activated, if the release and apply timings are not synchronized, shift shock occurs due to overrun or tie-up. The TCU, which measures only the speeds, inevitably applies the open-loop shift control because the speed ratio does not change during the clutch fill and torque phase until the clutch is disengaged. In this study, an offline shift logic of learning control is proposed. It induces synchronous shifting as learning progresses by correcting the reference current trajectory of the release clutch applied to the next upshift based on the results of the overrun/tie-up characteristics of the upshift performed immediately before. The vehicle test proved that the shift quality deviation caused by the difference in the mechanical characteristics of the clutch can be improved by the learning control.
학습제어를 이용한 지게차 자동변속기 상향 변속품질 개선
정규홍 사단법인 유공압건설기계학회 2022 드라이브·컨트롤 Vol.19 No.2
Recently, automatic transmissions caused a good improvement in the shift quality of a forklift. An advanced shift control algorithm, which was based on TCU firmware, was applied with embedded control technology and microcontrollers. In the clutch-to-clutch shifting, one friction element is released and the other friction element is activated. During this process, if the release and application timings are not synchronized, an overrun or tie-up occurs and ultimately leads to a shift shock. The TCU, which measures only the speed of the forklift, inevitably applies the open-loop shift control. In this situation, the speed ratio does not change during the clutch fill. The torque phase occurs until the clutch is disengaged. In this study, an offline shift logic of the learning control was proposed. It induced a synchronous shift when the learning control progressed. During this process, the reference current trajectory of the release clutch was corrected and applied to the next upshift. We considered the results of the overrun/tie-up characteristics of the upshift performed immediately before. The vehicle test proved that the deviation in shift quality, which was caused by the difference in the mechanical characteristics of the clutch, could be improved by the learning control.
한광환(Kwang-Hwan Han),김도연(Do-Yun Kim),이창석(Chang-Seok Lee),이진욱(Jin-Wook Lee),정구민(Gu-Min Jeoung) 한국자동차공학회 2020 한국자동차공학회 부문종합 학술대회 Vol.2020 No.7
본 논문에서는 강화학습 알고리듬인 DDPG(Deep Deterministic Policy Gradient)를 이용하여 DC 모터를 제어기 설계 방법을 제안한다. 매트랩의 시뮬링크를 이용하여 전달 함수 블록과 Reinforcement Learning 블록으로 피드백 루프를 구성하였다. DDPG 알고리즘에 Actor와 Critic의 네트워크는 매트랩 코드 환경에서 생성하였고, 시뮬링크와 연동하여 학습을 진행하였다. 시뮬레이션에서 단위계단함수를 입력으로 설정하였으며, 시뮬레이션 시간은 1초로 진행하였다. 진행한 결과 Peak Time: 7.898ms, Rise Time: 7.186ms, Settling Time: 8.274ms, Overshoot: 1.4% 로 측정되었다. 정상상태 오차의 경우에는 ±1% 이내로 수렴하는 것을 확인하였다.
이공학편 : 퍼지이론을 이용한 소형 항공기 글라이드 슬로프 자동 착륙 연구
한창환(책임연구원) ( Chang Hwan Han ),김근택(책임연구원) ( Keun Taek Kim ) 공군사관학교 2015 空士論文集 Vol.66 No.2
정보처리나 자동제어분야에서 퍼지이론은 학계의 많은 관심을 불러일으켰으며 로붓, 의료진단, 인공지능 등 실질적인 산업분야에 새로운 패러다음을 가져왔다. 퍼지제어 (Fuzzy Control)는 시변시스템(Time-Varying System)과 비선형 시스템(Nonlinear System) 혹은 쉽게 정의하기 어려운 프로세스 시스템을 제어하는데 있어 고전적인 제어기법들을 대체하기 위한 하나의 대안으로 등장하였다. 이러한 흐름에 따라 고정익 소형항공기의 Glide-slope 자동 착륙 시스템에 퍼지 제어 이론을 적용하기 위한 연구를 수행하였다. 본 연구에서는 향후 퍼지이론을 다양한 응용분야에 적용할 수 있도록 확장성과 활용성을 가지도록 FMRLC를 퍼지 제어기로 선정하였으며, 항공기의 자동착륙경로에 대한 Glide-Slope 착륙거동을 모델링하여 항공기의 운동방정식을 유도하고 Matlab을 이용한 해석 및 시뮬레이션을 통해 퍼지제어의 타당성을 검증하였다. Fuzzy theory is a new paradigm for the fields of information processing and automatic control such as robot, medical science. artificial intelligence etc. Fuzzy control has been also emerged as a practical alternative to classical control schemes in controlling certain lime- varying system, nonlinear system. and ill-defined processes. In this paper Funy Model Reference Learning Controller(FMRLC) is designed for a glide-slope automatic landing of a small airpiane la find applicability and expandabililY of the fuzzy theory. In addition. mathematical modeling for the glide-slope landing path is performed and the equation of motion is fannulated for the glide- slope automatic landing behavior. The perfomlance of FMRLC is demonstrated by simulation using the Matlab and the results are presented.
선형 모터 스테이지의 주파수 영역 모델기반 모션 제어 설계
전희원,안형준 한국정밀공학회 2024 한국정밀공학회지 Vol.41 No.1
The fourth industrial revolution led to advanced servo systems, enhancing productivity across industries. However, designing these systems remains challenging due to the performance-stability trade-off. This paper presents a model-based motion control of a linear motor motion stage in frequency domain. A user-code for the PowerPMAC commercial controller was developed to excite motion control system so that we could get a frequency response. The theoretical frequency response of the servo algorithm was compared with the experimental frequency response. Based on this, a tuning graphical user interface (GUI) was developed to predict performance when the servo loop gain is changed. Especially, to compensate for residual vibrations caused by high acceleration and deceleration and to improve tracking error, DOB (Disturbance Observer) and ILC (Iterative Learning Control) control techniques were applied in the frequency domain. Through the design of the frequency domain motion controller, the control performance of the linear motor motion stage could be predicted with over 96% accuracy, resulting in a 54.32% improvement in tracking error and a 93.56% improvement in settling time, 85.29% in RMS error.