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RISS 인기검색어
- 검색키워드
- 저자 : Tran Anh Dung (검색결과 3 건)
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퍼지논리를 사용한 로봇 매니퓰래이터 제어기의 적응식 PID 게인 조율 방법에 대한 연구
Tran Anh Dung 한국산업기술대학교 일반대학원 2019 국내석사
ABSTRACT Adaptive PID Gain Tuning Using Fuzzy Logic For Robot Manipulator. by Tran Anh Dung Advisor Prof. Shin Hyeong-ceol, Ph.D Department of Mechanical Engineering. General Graduate School, Korea Polytechnic University The most popularly used form of industrial controllers is Proportional-Integral-Derivative (PID) controller. Nowadays, more than 90% of controllers used in industries are PID or type of PID controller. Because PID controller has simple structure and powerful performance. Though, fixed PID gain do not work well for nonlinear processes or are unable to compensate for disturbances. To address this weakness, many methods for tuning PID gain have been suggested. There is much to gain, if these methods are carried forward to fuzzy logic. In this thesis, a fuzzy adaptive PID gain is proposed for robot manipulators. This method may dynamically adjust proportional coefficient Kp, integral coefficient Ki and derivative coefficient Kd of PID controller by using fuzzy algorithm. The proposed controller has been successfully applied to control SCARA manipulator using Matlab. In this simulation, the external disturbance is addressed. The simulation results have shown that the tracking performance of the fuzzy adaptive PID gain is quite good and more robust and adaptable than traditional PID controller 국문요약 퍼지논리를 사용한 로봇 매니퓰래이터 제어기의 적응식 PID 게인 조율 방법에 대한 연구 한국산업기술대학교 일반대학원 기계공학과: 짠아잉쭝 지도교수: 신 형 철 산업용 컨트롤러 중 가장 보편적으로 사용되는 형태는 PID (Proportional-Integral-Derivative) 컨트롤러입니다. 요즘, 산업계에서 사용되는 컨트롤러의 90 % 이상이 PID 또는 PID 컨트롤러 유형입니다. PID 컨트롤러는 간단한 구조와 강력한 성능을 제공하기 때문에 그러나 고정 PID 게인은 비선형 프로세스에서 잘 작동하지 않거나 장애를 보상 할 수 없습니다. 이러한 약점을 해결하기 위해 PID 이득을 조정하는 많은 방법이 제안되었습니다. 이러한 방법이 퍼지 논리로 이어진다면 얻을 수있는 것이 많습니다. 본 논문에서는 로봇 매니퓰레이터에 대해 퍼지 적응 형 PID 이득을 제안한다. 이 방법은 퍼지 알고리즘을 사용하여 PID 제어기의 비례 계수 Kp, 적분 계수 Ki 및 미분 계수 Kd를 동적으로 조정할 수 있습니다. 제안 된 컨트롤러는 Matlab을 사용하여 SCARA 조작기를 제어하는 데 성공적으로 적용되었습니다. 이 시뮬레이션에서 외란이 해결되었습니다. 시뮬레이션 결과는 퍼지 적응 형 PID 이득의 추적 성능이 기존의 PID 제어기보다 상당히 좋고 견고하고 적응력이 있음을 보여주었습니다.
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Power Amplifier Module to Enhance Efficiency in low Power Mode
Tran Anh Dung 경희대학교 2012 국내석사
This thesis presents the design and implementation of the Radiofrequency power amplifiers in InGaP HBT based technologies. The main challenge is to include power amplifier with buck converter to enhance efficiency at low power region. This work describes the design procedure for InGaP HBT power amplifier, CMOS Buck Converter and is divided in five parts : - Building a power amplifier based on class AB - Evaluate buck converter - Design directional coupler base on metamaterial and standing wave theory - Design On-chip transformer type metamateral directional coupler. - Evaluate overall configuration with power amplifier and buck converter and power detector. A good agreement between the proposed analytical analysis and large-signal (harmonic balance) simulation results proofs usefulness of the proposed power amplifiers module design approach. Additionally, it shows a new novel that helps to find a new technology with directional coupler. The main achievements include: - A 2.45Ghz WiFi power amplifier. An output power of 4% EVM(Error Vector Magnitude) is 22dBm , a power added efficiency (PAE) is 8 % at 16dBm output power. - Directional coupler with -14 dB coupling factor in strip-line with a ground plane spacing of 0.4 mm, a dielectric constant of 4.9, and a center frequency of 2.45Ghz. - Metatmaterial increases coupling factor from -14 dB to -10 dB - On-chip transformer type metamaterial directional coupler increases output voltage of power detector from 0.6V to 1.2V at 16dBm output power. - Overall configuration power amplifier with power tracker enhances efficiency in low power region by 37.5%. ( at 16dBm output power )
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Power Amplifier Module to Enhance
Tran Anh Dung the Graduate School of 2012 국내석사
This thesis presents the design and implementation of the Radiofrequency power amplifiers in InGaP HBT based technologies. The main challenge is to include power amplifier with buck converter to enhance efficiency at low power region. This work describes the design procedure for InGaP HBT power amplifier, CMOS Buck Converter and is divided in five parts : - Building a power amplifier based on class AB - Evaluate buck converter - Design directional coupler base on metamaterial and standing wave theory - Design On-chip transformer type metamateral directional coupler. - Evaluate overall configuration with power amplifier and buck converter and power detector. A good agreement between the proposed analytical analysis and large-signal (harmonic balance) simulation results proofs usefulness of the proposed power amplifiers module design approach. Additionally, it shows a new novel that helps to find a new technology with directional coupler. The main achievements include: - A 2.45Ghz WiFi power amplifier. An output power of 4% EVM(Error Vector Magnitude) is 22dBm , a power added efficiency (PAE) is 8 % at 16dBm output power. - Directional coupler with -14 dB coupling factor in strip-line with a ground plane spacing of 0.4 mm, a dielectric constant of 4.9, and a center frequency of 2.45Ghz. - Metatmaterial increases coupling factor from -14 dB to -10 dB - On-chip transformer type metamaterial directional coupler increases output voltage of power detector from 0.6V to 1.2V at 16dBm output power. - Overall configuration power amplifier with power tracker enhances efficiency in low power region by 37.5%. ( at 16dBm output power )
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