Design of Fuzzy Logic Control System for Segway Type Mobile Robots

Sangfeel Kwak,Byung-Jae Choi 한국지능시스템학회 2015 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.15 No.2

Studies on the control of inverted pendulum type systems have been widely reported. This is because this type of system is a typical complex nonlinear system and may be a good model to verify the performance of a proposed control system. In this paper, we propose the design of two fuzzy logic control systems for the control of a Segway mobile robot which is an inverted pendulum type system. We first introduce a dynamic model of the Segway mobile robot and then analyze the system. We then propose the design of the fuzzy logic control system, which shows good performance for the control of any nonlinear system. In this paper, we here design two fuzzy logic control systems for the position and balance control of the Segway mobile robot. We demonstrate their usefulness through simulation examples. We also note the possibility of simplifying the design process and reducing the computational complexity. This possibility is the result of the skew symmetric property of the fuzzy rule tables of the system.

체계/생활세계 2단계 사회이론의 비판적 재구성 : 체계의 민주화와 사회적 투쟁의 생활세계 내 현실화

선우현(Sunwoo Hyun) 사회와 철학 연구회 2007 사회와 철학 Vol.0 No.14

체계/생활세계 2단계 사회이론은, 한편으로 생활세계 내의 병리적 현상에 대한 진단 및 해명에서는 탁월한 이론적 성과를 내고 있지만 체계 내적 모순은 정확히 포착·해명하지 못하고 있다. 다른 한편으로 생활세계 내에 자리하고 있는 비(非) 의사소통적 논리에 기초한 고유한 권력관계를 포착하지 못함으로써 체계 논리에 의한 식민화 현상 이외에 생활세계 자체 내에서 벌어지는 사회적 갈등을 비롯한 고유한 병리적 현상은 제대로 인식하지 못하고 있다. 이러한 한계와 난점을 해결하고자, 2단계 사회관에 초점을 맞추어 이루어진 비판적 재구성 작업의 결과로 새롭게 전환된 체계/생활세계 2단계 사회이론의 ‘단초적 윤곽’과 ‘맹아적 형태’는 다음과 같다. 먼저, 체계는 효율성의 논리와 의사소통의 논리가 최적의 비율로 상호 결합된 새로운 ‘재구성적 체계 논리’에 의해 구조화됨으로써 물질적 재생산 작업은 민주성의 논리에 의해 기능적 논리가 통어·조정되는 방식에 따라 이루어져 나간다. 이로써 체계 내 민주화 및 해방에 관한 조망점이 확보되며 체계의 합리화는 사회적 진보를 향한 ‘해방적 합리화’로서 해석된다. 이와 함께 규범적 비판 및 평가가 가능해 짐으로써 체계 내 병리적 현상에 대한 진단이 가능해 진다. 그럼에도 기존의 식민화 현상에 관한 해명은 여전히 가능한데, 그것은 기능적 논리와 의사소통적 논리간의 적절한 결합 관계에 문제가 생겨 전자가 후자를 압도하여 체계 내 위기를 발생시키고 이어 다시 생활세계 내로 침탈해 들어가 의사소통구조를 왜곡시킴으로써 그러한 식민화 사태가 야기된다는 식으로 이루어진다. 이로써 재구성된 체계는 체계 내 병리적 현상과 생활세계의 식민화 현상을 모두 수미일관되게 포착·해명해 낼 수 있다. 다음으로, 생활세계는 의사소통적 논리와 비의사소통적 논리, 양자를 새로운 고유 논리로서 모두 함유하고 있는 사회질서 개념으로 재규정됨으로써 자유로운 의사소통 구조와 그것을 둘러싼 생활세계의 고유한 권력관계가 상호 연계되어 구조화된 이념(형)적 지평으로 새롭게 조망된다. 그에 따라 체계 논리에 의한 식민화 현상 이외에 비의사소통적 논리에 기초한 권력관계에 의해 촉발되는, 생활세계 내의 고유한 병리적 문제 또한 포착 및 진단이 가능해진다. 그와 함께 비의사소통적 논리는 본질상 비합리적 속성을 체현한 것으로 간주됨으로써 생활세계의 합리화는 여전히 의사소통적 합리화로서 드러나며, 그러한 논리와 그것에 기초한 생활세계의 고유한 권력관계는 그러한 과정을 저해하거나 새로운 갈등적 문제를 유발하는 것으로 해석된다. ‘Two-level Theory of Society of System/Lifeworld’ succeeds in diagnosing and revealing the pathological phenomena in Lifeworld. But it is placed in the unability to grasp and explain properly the inner contradiction of System, and it does not recognize fully the peculiar pathological problems in Lifeworld, such as social conflict, either. In order to escape from these limits and drawbacks, it is necessary to reconstruct critically ‘Two-level Theory of Society’ focusing on the conceptions of two-level society. As a result of critical reconstruction, the ‘beginning outline’ and the ‘germinant form’ of the newly transformed and constructed ‘Two-level Theory of Society’ is as follows: Dimension of System: The inner structure of System is restructuralized by the new ‘reconstructive logic of System’ which is produced through the combination between the logic of efficiency and the logic of communication at a optimum rate between the two. Consequently, the material reproduction in System is carried out according to the way in which the logic of democracy steers and controls adequately the functional logic. Hereby it comes to be possible to illuminate and measure the level and degree of the democratization and emancipation within System. And it is also possible to make a diagnosis of the pathological phenomena in System successfully. Dimension of Lifeworld: Lifeworld is redefined as the new conception of social order that includes both communicative logic and noncommunicative logic which are inherently rooted in Lifeworld. As a result of that, it comes to be possible to grasp Lifeworld as the structuralized ideal-typical sphere in which free communicative structure is connected closely with proper power-relations that is situated inherently in Lifeworld. Consequently, it is practicable to capture and diagnose not only the inner colonization of Lifeworld but also the peculiar pathological problems in Lifeworld that are caused by powerrelations.

Development of Energy Management System for Micro-Grid with Photovoltaic and Battery system

Furqan Asghar,Muhammad Talha,Sung-Ho Kim 한국지능시스템학회 2015 한국지능시스템학회논문지 Vol.25 No.3

Global environmental concerns and the ever increasing need of energy, coupled with steady progress in renewable energy technologies, are opening up new opportunities for utilization of renewable energy resources. Distributed electricity generation is a suitable option for sustainable development thanks to the load management benefits and the opportunity to provide electricity to remote areas. Solar energy being easy to harness, non-polluting and never ending is one of the best renewable energy sources for electricity generation in present and future time. Due to the random and intermittent nature of solar sources PV plants require the adoption of an energy storage and management system to compensate fluctuations and to meet the energy demand during night hours. This paper presents an efficient, economic and technical model for the design of a MPPT based grid connected PV with battery storage and management system. This system satisfies the energy demand through the PV based battery energy storage system. The aim to present PV-BES system design and management strategy to maximize the system performance and economic profitability. PV-BES (photovoltaic based battery energy storage) system is operated in different modes to verify the system feasibility. In case of excess energy (mode 1), Li-ion batteries are charged using CC-CV mechanism effectively controlled by fuzzy logic based PID control system whereas during the time of in sufficient power from PV system (mode 2), batteries are used as backup to compensate the power shortage at load and likewise other modes for different scenarios. This operational mode change in PV-BES system is implemented by State flow chart technique based on SOC, DC bus voltages and solar Irradiance. Performance of the proposed PV-BES system is verified by some simulations study. Simulation results showed that proposed system can overcome the disturbance of external environmental changes, and controls the energy flow in efficient and economical way.

Development of Energy Management System for Micro-Grid with Photovoltaic and Battery system

Asghar, Furqan,Talha, Muhammad,Kim, Sung-Ho Korean Institute of Intelligent Systems 2015 한국지능시스템학회논문지 Vol.25 No.3

Global environmental concerns and the ever increasing need of energy, coupled with steady progress in renewable energy technologies, are opening up new opportunities for utilization of renewable energy resources. Distributed electricity generation is a suitable option for sustainable development thanks to the load management benefits and the opportunity to provide electricity to remote areas. Solar energy being easy to harness, non-polluting and never ending is one of the best renewable energy sources for electricity generation in present and future time. Due to the random and intermittent nature of solar source, PV plants require the adoption of an energy storage and management system to compensate fluctuations and to meet the energy demand during night hours. This paper presents an efficient, economic and technical model for the design of a MPPT based grid connected PV with battery storage and management system. This system satisfies the energy demand through the PV based battery energy storage system. The aim is to present PV-BES system design and management strategy to maximize the system performance and economic profitability. PV-BES (photovoltaic based battery energy storage) system is operated in different modes to verify the system feasibility. In case of excess energy (mode 1), Li-ion batteries are charged using CC-CV mechanism effectively controlled by fuzzy logic based PID control system whereas during the time of insufficient power from PV system (mode 2), batteries are used as backup to compensate the power shortage at load and likewise other modes for different scenarios. This operational mode change in PV-BES system is implemented by State flow chart technique based on SOC, DC bus voltages and solar Irradiance. Performance of the proposed PV-BES system is verified by some simulations study. Simulation results showed that proposed system can overcome the disturbance of external environmental changes, and controls the energy flow in efficient and economical way.

Control of Container Crane by Binary Input using Mixed Logical Dynamical System

Yuya Tanaka,Yasuo Konishi,Nozomu Araki,Hiroyuki Ishigaki 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10

This paper proposes an effective control system for a container crane that takes into account disturbances such as a wind. For efficient crane operation, it is necessary to realize accurate positioning of cranes, to minimize oscillation of containers and to realize the fastest possible control time while they are being carried. The crane input is assumed to be a binary with maximum and minimum values for quick control. The entire crane system including the binary input is considered as a hybrid system. A hybrid system is a generic term for a system in which continuous and discrete dynamics exist together. We control the entire crane system using the Mixed Logical Dynamical (MLD) system. An MLD system, which is a representation method for a hybrid system, is used for the crane system. It is generally known that an MLD system can be controlled by Model Predictive Control (MPC). We confirm the effectiveness of the proposed technique through computer simulation of the crane.

Development of Energy Management System for Micro-Grid with Photovoltaic and Battery system

Furqan Asghar,Muhammad Talha,Sung Ho Kim 한국지능시스템학회 2015 한국지능시스템학회 학술발표 논문집 Vol.25 No.1

Global environmental concerns and the ever increasing need of energy, coupled with steady progress in renewable energy technologies, are opening up new opportunities for utilization of renewable energy resources. Distributed electricity generation is a suitable option for sustainable development thanks to the load management benefits and the opportunity to provide electricity to remote areas. Solar energy being easy to harness, non-polluting and never ending is one of the best renewable energy sources for electricity generation in present and future time. Due to the random and intermittent nature of solar source, PV plants require the adoption of an energy storage and management system to compensate fluctuations and to meet the energy demand during night hours. This paper presents an efficient, economic and technical model for the design of a MPPT based grid connected PV with battery storage and management system. This system satisfies the energy demand through the PV based battery energy storage system. The aim is to present PV-BES system design and management strategy to maximize the system performance and economic profitability. PV-BES (photovoltaic based battery energy storage) system is operated in different modes to verify the system feasibility. In case of excess energy (mode 1), Li-ion batteries are charged using CC-CV mechanism effectively controlled by fuzzy logic based PID control system whereas during the time of insufficient power from PV system (mode 2), batteries are used as backup to compensate the power shortage at load and likewise other modes for different scenarios. This operational mode change in PV-BES system is implemented by State flow chart technique based on SOC, DC bus voltages and solar Irradiance. Performance of the proposed PV-BES system is verified by some simulations study. Simulation results showed that proposed system can overcome the disturbance of external environmental changes, and controls the energy flow in efficient and economical way.

Design of Simple-Structured Fuzzy Logic Systems for Segway-Type Mobile Robot

Hyun-Ho Yoo,Byung-Jae Choi 한국지능시스템학회 2015 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.15 No.4

Studies on the control of the inverted pendulum type system have been widely reported. This is because it is a typical complex nonlinear system and may be a good model for verifying the performance of a proposed control system. In this paper, we propose the design of some fuzzy logic control (FLC) systems for controlling a Segway-type mobile robot, which is an inverted pendulum type system. We first derive a dynamic model of the Segway-type mobile robot and then analyze it in detail. Next, we propose the design of some FLC systems that have good performance for the control of any nonlinear system. Then, we design two conventional FLC systems for the position and balance control of the Segway-type mobile robot, and we demonstrate their usefulness through simulations. Next, we point out the possibility of simplifying the design process and reducing the computational complexity,, which results from the skew symmetric property of the fuzzy control rule tables. Finally, we design two other FLC systems for position and balance control of the Segway-type mobile robot. These systems have only one input variable in the FLC systems. Furthermore, we observe that they offer similar control performance to that of the conventional two-input FLC systems.

시스템 모델을 통한 PLC 기반 시스템의 RTOS 기반 시스템으로의 변환

김제웅(Je-Wung Kim),임성수(Sung-Soo Lim) 한국컴퓨터정보학회 2009 韓國컴퓨터情報學會論文誌 Vol.14 No.3

본 논문에서는 현재 많은 산업 현장에서 자동 제어를 위한 시스템으로 사용하는 PLC를 대체하기 위한 시스템으로 RTOS 기반 시스템을 제안하였다. RTOS 기반 시스템은 PLC의 한계를 극복하고 시스템의 안정성곽 신뢰성을 보장하기 위한 방법으로 PC와 RTOS를 사용하는 시스템이다. 그리고 PLC 기반 시스템을 RTOS 기반 시스템으로 변환하기 위한 방법으로 시스템 모델을 통한 변환 방법을 제안하였고 변환 절차와 변환 방법을 설명하였다. 시스템 모델은 PLC 기반 시스템을 RTOS 기반 시스템으로 변환하기에 앞서 시스템을 상위 레벨에서 하위레벨로 태스크 단위로 분석한 것으로 시스템을 모듈 별로 정의하고 정의된 모듈의 동작을 태스크로 세분화하여 정의한 것이다. 모듈 별로 시스템을 제어하는 것은 PLC를 통한 제어에 비해 성능뿐만 아니라 기능적으로도 향상을 가져오고 추후 시스템의 수정이나 변화 시에도 더 유연하게 대처할 수 있다. In this raper, We propose the alternative solution, RTOS-based system to replace the PLC 4hat has used the automation system for industrial processes. RTOS-based system is constructed the PC and RTOS as hardware and software. It overcomes the limit of PLC and guarantees the stability and reliability. Also, PC has better performance and cheaper than PLC when operating and constructing the system. For many manufactures, these benefits alone are all the reason they need to switch from PLC-based system to RTOS-based system. To use the RTOS-based System, the PLC program needs the conversion to the RTOS task. And how to transform is the most important issue. So, we propose conversion method through the system model. The system model defines the operation of each module as the task after the system divided into module. Because the system divided into modules can control, the performance and the functionality of system improve, and the system can deal with a problem easily when repairing and changing.

Development of Fuzzy Logic based battery charging algorithm for Photovoltaic system

Furqan Asghar,Muhammad Talha,Sung Ho Kim 한국지능시스템학회 2015 한국지능시스템학회 학술발표 논문집 Vol.25 No.1

Due to the severity of the environmental pollution and global energy crisis, the photovoltaic system has become one of the most important renewable energy sources. For efficient and dynamic use of this energy source, Rechargeable batteries are widely used in stand-alone PV systems to store the surplus energy and supply this stored energy to the load in case of low renewable energy production. In this study, MPPT based photovoltaic battery charging system is proposed for Li-ion batteries using CC-CV technique and charging mechanism is effectively controlled by fuzzy logic system. CC mode is used initially to fasten the charging mechanism while CV mode is used later to avoid the battery overcharging. Buck converter is used to regulate the voltages for charging purposes whereas fuzzy logic control system is used to regulate the PID gains to determine the optimal gain value for battery charging in CC-CV modes according to PV system variant output power. Research work is being done to make charging system performance more efficient and energetic. Therefore, efficient Simulink model for PV based battery charging system is proposed and some simulation study is carried out to verify the feasibility of the proposed scheme. Simulation result showed that proposed system can overcome the disturbance of external environmental changes, and achieve fast charging than conventional charging systems.

LQR-퍼지논리제어기에 의한 2중 차량 구조 역진자 시스템의 제어

허열(Yue Xu),최병재(Byung-Jae Choi) 한국지능시스템학회 2013 한국지능시스템학회논문지 Vol.23 No.3

임의의 비선형 시스템을 제어하기 위한 새로운 방법의 제어 알고리즘이 널리 보고되고 있으며, 그 유용성을 입증하기 위한 제어 대상 시스템으로 역진자 시스템이 널리 활용되고 있다. 본 논문에서는 스프링으로 연결된 2개의 차량에 장착된 역진자를 제어하는 알고리즘을 제시한다. 여기서 두 개의 차량 중 하나는 구동용, 다른 하나는 역진자를 장착한 무구동용이다. 이를 위한 시스템 모델링을 제시하고, 퍼지논리제어 시스템 기반의 양질의 제어기 설계를 제안한다. 본 논문에서는 퍼지논리제어기의 입력변수로 사용될 6개의 변수를 2개로 축소하기 위하여 LQR(Linar Quadratic Regulator) 기법을 도입하며, 이를 통하여 퍼지논리제어기 설계의 복잡성을 줄일 수 있음을 보인다. 더욱이 개선된 2-입력 퍼지논리제어기의 제어 규칙표가 skew-symmetric의 특성을 가지는 성질로부터 다시 단일입력 퍼지논리제어기 설계를 제안한다. 제안한 방법의 유용성을 입증하기 위하여 시뮬레이션을 수행하며, 이를 통하여 제안한 방법의 우수성을 입증한다. Any new method for controlling a nonlinear system has widely been reported. An inverted pendulum system has typically been used as a target system for demonstrating its usefulness. In this paper, we propose an algorithm to control a flexible joint cart based inverted pendulum system. Two carts are connected with a spring and one is a driving cart and the other is no driving cart with a pole. We here present a system modeling and a good fuzzy logic based control algorithm. We also introduce LQR (Linar Quadratic Regulator) technique for reducing the number of control variables. By using this technique, the number of input variables for a fuzzy logic controller is become only two not six. So the computational complexity is largely reduced. Moreover, a two-input fuzzy logic controller has a control rule table with a skew-symmetric property. And it will lead the design of a single-input fuzzy logic controller. In order to demonstrate the usefulness of the proposed method and prove the superiority of the proposed method, some computer simulations are presented..