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RCGA를 이용한 도립진자 시스템의 파라미터 추정 및 안정화 제어
안종갑,이윤형,유희한,소명옥,진강규,Ahn, Jong-Kap,Lee, Yun-Hyung,Yoo, Heui-Han,So, Myung-Ok,Jin, Gang-Gyoo 한국마린엔지니어링학회 2006 한국마린엔지니어링학회지 Vol.30 No.6
This paper presents a scheme for the parameter estimation and stabilization of unstable systems, such as inverted pendulum systems. First a stable feedback loop is constructed for an inverted pendulum system and then its parameters are estimated based on input-output data, a real-coded genetic algorithm(RCGA) and the model adjustment technique. Then, a PI-type LQ control scheme is designed based on the estimated model. The performance of the proposed algorithm is demonstrated through a set of simulation and experiment.
안종갑,이윤형,진강규,소명옥,Ahn, Jong-Kap,Lee, Yun-Hyung,Jin, Gang-Gyoo,So, Myung-Ok 한국마린엔지니어링학회 2007 한국마린엔지니어링학회지 Vol.31 No.5
This paper presents a method for identifying various systems based on input-output data and a real-coded genetic algorithm(RCGA). The advantages of this technique are, first, it is not dependent on the deterministic or stochastic nature of the systems and, second, the globally optimized models for the original systems can be identified without the need of a differentiable measure function of linearly separable parameters. Under suitable hypotheses, the estimation error is shown to converge in probability to zero. The performance of the proposed algorithm is demonstrated through several simulations.
GA-LADRC를 이용한 Mariner class vessel의 선수각 제어
안종갑,Jong-Kap AHN 한국수산해양기술학회 2023 수산해양기술연구 Vol.59 No.2
In this study, to control the heading angle of a ship, which is constantly subjected to various internal and external disturbances during the voyage, an LADRC (linear active disturbance rejection control) design that focuses more on improving the disturbance removal performance was proposed. The speed rate of change of the ship's heading angle due to the turn of the rudder angle was selected as a significant factor, and the nonlinear model of the ship's maneuvering equation, including the steering gear, was treated as a total disturbance. It is the similar process with an LADRC design for the first-order transfer function model. At this time, the gains of the controller included in LADRC and the gains of the extended state observer were tuned to RCGAs (real-coded genetic algorithms) to minimize the integral time-weighted absolute error as an evaluation function. The simulation was performed by applying the proposed GA-LADRC controller to the heading angle control of the Mariner class vessel. In particular, it was confirmed that the proposed controller satisfactorily maintains and follows the set course even when the disturbances such as nonlinearity, modelling error, uncertainty and noise of the measurement sensor are considered.
안종갑(Jong-Kap Ahn),이창호(Chang-Ho Lee),이윤형(Yun-Hyung Lee),최재준(Jae-Jun Choi),소명옥(Myung-Ok So) 한국항해항만학회 2009 한국항해항만학회지 Vol.33 No.6
대양 항행하는 거의 모든 선박에서 항해사를 지원하기 위해 선박의 회두각 유지 및 변침을 목적으로 사용되는 일반적인 자동조타기는 대부분 PID형 제어기가 장착되어 있다. 선박 자동조타기의 제어기 계수는 운항 경제성 관점에서 선박의 추진 에너지 손실량(연료소비량)으로써 평가해야 한다. 본 논문에서는 선박 자동조타기의 정량적인 평가함수를 바탕으로 추진 에너지 손실량이 최소가 되도록 자동조타기의 제어이득을 구하고자 한다. 이 때 제약조건, 즉 설계사양을 고려한 RCGA를 이용하여 제어이득의 탐색을 실시하고, 시뮬레이션을 통해 제안한 방법을 검증한다. The PID controller type autopilot is applied to support shipmaneuvering for course-keeping and heading control. A control constants of autopilot system should be evaluated by promoting energy loss (fuel consumption) from the view point of economic efficiency of the ship. This paper is obtained control constants of autopilot system from the RCGA pursued the minimum energy loss. 1n addition, the controller which is designed involves a constrained optimization problem The performance of the proposed method is demonstrated through a set of simulation.