위치제어를 위한 I-PD제어계에서 PD제어기의 설계

김성대,Kim, Sung-Dae 한국융합신호처리학회 2009 융합신호처리학회 논문지 (JISPS) Vol.10 No.4

산업 현장에서 요구하는 위치제어계는 고속, 고정밀의 제어를 만족하여야 하므로, 취급과 제어가 용이하고 응답특성이 우수한 직류 서보 전동기를 많이 이용하고 있다. 위치제어계에서 제어 성능을 개선시키기 위해서 많은 위치제어기법들이 제안되어져 왔다. 본 논문에서는 I-PD 위치제어계에서 PD제어기를 설계할 수 있는 설계법을 제안하였다. 제안한 설계법은 계의 전달함수를 정규화하여 제어계에서 제어기의 계수들이 결정되도록 하였다. 그리고 계의 안정조건과 근의 조건을 수학적으로 유도하였다. 이 방법을 I-PD제어계에 적용하여 PD제어기의 비례 및 미분 계수를 결정하였다. 그리고 이 제어기법을 적용한 I-PD 제어계를 시뮬레이션하여 계단 입력신호 및 외란 인가 시 계의 응답을 고찰하여 제안한 제어기법의 유효성을 검토하였다. Since high speed and precision control shoud be satisfied in the position control system, the DC servo motor with easy control and satisfactory response characteristic is used. The various studies of position control techniques have been proposed in order to improve the control performance in the position control system. In this paper, the design method for a position control is suggested for constructing the PD controller in I-PD control system. The coefficients of PD controller in the I-PD control system are determined by using the transfer function which is normalized. Stability and root conditions of the system are derived from mathematical technique. From the result of computer simulation in I-PD control system by applying this control technique, is investigated by the method of proposed design the effectiveness of system response characteristic for input and disturbance.

Design of Fuzzy Logic Control System for Segway Type Mobile Robots

곽상필,최병재 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 becausethistypeofsystemisatypicalcomplexnonlinearsystemandmaybeagoodmodelto 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.

다축 유압 시스템을 위한 동기 위치 기반 제어 알고리즘 개발

조성진,윤성수,전재욱 제어로봇시스템학회 2010 제어로봇시스템학회 합동학술대회 논문집 Vol.2010 No.12

Many industrial motion systems use electronic motors. However, big power systems that make automobile frames, roll blending machines and many other systems can’t use electronic motors due to relatively small power. Thus, hydraulic systems are used in press machines and industrial heavy machines. Hydraulic systems use many control methods such as open-loop control method and the close-loop control method. Among hydraulic systems, we focus on the control hydraulic press system; particularly, the hydraulic press system that operates with vertical movement and has big weight. In this case, if the close-loop method is applied to the hydraulic press system, then vibration and noise problems will occur due to the inertia of the press system. Also, the hydraulic press systems use many axes so these systems require synchronization control. In this paper, we propose PDC(Position Dependent Control) Synchronization algorithm between the open-loop controller and the close-loop controller with a variety of interpolation methods in the close-loop controller in order to efficiently control the hydraulic press system.

시뮬레이션을 이용한 서보 위치제어기의 전류, 속도, 위치이득 동조기법에 관한 연구

박기우(Ki-Woo Park) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.7

When a servo position controller of a robot or a driving units is composed of a PID controller, servomechanism which is modelled is composed of current, velocity and position control loops. After this model is simulated, the technique operating gain of each controller is suggested. The model consists of current, velocity and position controllers from the inside to the outside gradually. Also, to combine velocity and position controllers with 2 order system, simulation is performed after current controllers are composed, which are able for current loop to work ideally. If a current controller is treated with constant, it is possible for velocity and position controller to consist of controller into 2 order system. The technique is verified by applying T-company servo which more applied to current, velocity and position controller robots.

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.

축소 차수 모델 기반 제어기와 결합한 PI 관측기 기반 제어 시스템의 안정성 해석

손영익(Young Ik Son),아마레 네비옐레울 다니엘(Nebiyeleul Daniel Amare) 대한전기학회 2021 전기학회논문지 Vol.70 No.11

System model order reduction is a popular technique employed by control systems engineers due to its ability to reduce model complexity. However, control systems designed based on reduced-order model may cause closed-loop system instability when applied to the full-order model. In addition, conventional control system improvement methods such as increasing the controller gains or using robust control techniques in particular disturbance observers can further deteriorate system performance. In order to shade light on this phenomena, this paper presents an analytical study of the effects of high observer gain on the stability of observer compensated control systems whereby both the controller and the observer are designed using the reduced-order system model. The analysis is performed by carrying out stability analysis of the closed-loop system through root locus method and Routh-Hurwitz stability criterion. The paper also presents a comparative analysis between placing all the closed-loop poles of the controller at a single location or multiple locations using LQR technique for the aforementioned class of controller. The results obtained from the analysis have been validated through a DC motor position control system application.

자세제어 기술을 이용한 안전 유모차

유주호(Juho Yoo),이진영(Jinyoung Lee),로뢰(Lu Lei),이용희(Yonghee Lee) 한국HCI학회 2013 한국HCI학회 학술대회 Vol.2013 No.1

최종목표는 유모차의 아이가 앉는 부분을 모터를 이용하여서 어떤 경사면에서도 항상 지표면과 수평을 유지 할 수 있도록 제어하여 유모차의 안정감을 높여주는 것이다. 본 논문에서는 자세제어기술을 유모차에 최대한 적절히 접목시키기 위한 과정으로써 하드웨어 설계, 부품 선정 과정, 모터제어과정 등을 다루도록 한다. The quality of motion control system has been greatly improved motion control system has been used in many areas due to the development of electronic and motors, auto control technology and micro controller unit(MCU). Based on the design of a show system, a motion control system of baby carriage controlled by ATmega128 MCU has been put forward in this paper. The motion control system is designed in the designing model of MCU plus motion controller plus motor, in which the motion control command to the motor, including sending pulse signals to control the motor. In this paper, the control method and realization of the baby carriage have been analyzed and discussed firstly. Then the designing and application of the hardware and software are performed in this paper. In discussing the hardware design, the hardware communication between the MCU is discussed at first, then the connection of MCU and motion controller and at last the connection of MCU and sensors. In the software part, the flow chart of the main program will be given out. And then according to the chart, the software design of communication between MCU is discussed in the first place, followed are the MCU control of motion controllers. In the end, the design of how to get the position of the baby carriage will be discussed. The design of software and hardware put forward in this paper has been successfully developed to practical application of the system. It is proved that the system meets the design requirements and has achieved good results.

Dynamic Positioning System의 IMO Class 변경 요건에 관한 연구

채종주,Chong-Ju Chae 한국항해항만학회 2015 한국항해항만학회지 Vol.39 No.3

Dynamic Positioning System(DPS)은 그 신뢰성 및 redundancy(대체) 시스템에 따라 IMO 및 각 선급에서 3개의 class(등급)로 나 누고 있다. IMO MSC/Circ 645에 의하면 DPS는 Class 1, 2, 및 3로 나누고 있으며 등급이 높을수록 좀 더 신뢰성 있고 안전하게 DP 선박을 운용할 수 있다. 국내에서 많은 DP Class 선박들이 건조되고 있는 상황에서 DP Class 1선박의 개조를 통해서 DP Class 2로 변경하거나 DP Class 2선박을 신조 또는 중고선으로 구입하는 경우 무엇을 검토하고 확인해야 하는지에 대한 구체적인 실무 자료가 부족하고, DP Class 1 선박을 Class 2로 변경하여 다시 매도하는 새로운 산업분야의 개척에 있어 국내 사례를 바탕으로 한 연구가 필요할 것으로 판단된다. 이에 본 연구에서는 DP Class 1선박을 DP Class 2 선박으로 변경하기 위해서는 어떠한 IMO 및 선급의 DP class 요건의 충족이 필요하며 이를 위해 서 어떠한 설비의 변경 및 추가가 필요한지를 국내에서 있었던 실제 사례를 통해서 연구해 보았다. DP 선박 Class 변경을 위해서는 FMEA를 통해서 파악되는 DP 선박의 동력 시스템, thruster 시스템 및 제어 시스템 3가지의 주요 시스템에 대체(redundancy)기능을 갖추어야 한다. 동 력 시스템은 단일의 발전기, 배전반등에 문제가 발생해도 DP 기능을 유지할 수 있어야 하며, 더불어 PMS기능을 갖추고 있어야 한다. thruster 시스템은 단일의 고장이 발생하더라도 선박의 Surge, Sway 및 Yaw를 남은 thruster 시스템으로 자동 제어 할 수 있어야 한다. 각종 제어 시스템, PRS 및 센서는 여러개를 설치하여 단일의 장비고장에도 DP 기능을 유지 할 수 있어야 한다. The class of Dynamic Positioning System is divided in 3 classes depending on its redundancy and reliability according to IMO and classification society. There are 3 DP classes such as DP Class 1, 2 and 3 according to IMO MSC/Circ. 645. Higher DP class vessel has higher reliability, since redundancy concept is applied to the DP vessel depending on its DP class and can operate more safely. There are not enough information about DP class notation, which are needed when a company builds a new or buys second hand DP vessel or modifies DP classes, even the Korean shipyard is building a lot of DP vessels now. Also, the practical case of DP vessel modification, which had been done in Korea, to meet DP notation of IMO and classification society, will be helpful for DP vessel modification and sales industry development in Korea as a new business. As such this research identified what kind of requirements need to be taken into account to be from DP class 1 to DP class 2. The real DP class modification case is used to identify the requirements of DP class upgrade. Through the FMEA the redundancy concept on power system, thruster system and DP control system need to apply for DP class upgrade. The power system have to keep its DP function even if just a single fault happens on the generator or switchboard. Also, the PMS is required to monitor and control power system. Ship's Surge, Sway and Yaw movements can be controlled by the remaining thruster system after a single thruster fails. Lastly, multiple installation of PRS, sensors and DP control system are required to keep DP ability after a single fault on the DP control systems.

Synthesis and Experimental Implementation of DSP Based Backstepping Control of Positioning Systems

Jie Chang,Yaolong Tan 전력전자학회 2007 JOURNAL OF POWER ELECTRONICS Vol.7 No.1

Novel nonlinear backstepping control with integrated adaptive control function is developed for high-performance positioning control systems. The proposed schemes are synthesized by a systematic approach and implemented based on a modern low-cost DSP controller, TMS320C32. A baseline backstepping control scheme is derived first, and is then extended to include a nonlinear adaptive control against the system parameter changes and load variations. The backstepping control utilizes Lyapunov function to guarantee the convergence of the position tracking error. The final control algorithm is a convenient in the implementation of a practical 32-bit DSP controller. The new control system can achieve superior performance over the conventional nested PI controllers, with improved position tracking, control bandwidth, and robustness against external disturbances, which is demonstrated by experimental results.

제어방식에 따른 다축 고정도 위치동기제어계의 성능비교

최봉석(B. S. Choi),정석권(S. K. Jeong),유삼상(S. S. You) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-

This paper describes a comparison of control performance in multi-axes precise position synchronous system according to control methods. The control method is mainly divided as two manners such as master-slave and cooperative control in the multi-axes system. Also, each axis is divided as two types, current control type and acceleration control type, according to a kind of inner loop. Maximum error comparison as a coupling method is used to minimize position synchronous errors. The control performances of position synchronous control are investigated through numerical simulations under various control methods.