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한승훈(Seong-Hun Han),서정현(Jung-Hyun Seo),이진우(Jin-woo Lee),이권순(Kwon-Soon Lee) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.7
Recently, an automatic crane control system is required with high speed and rapid transportation. Therefore, when container is transferred from the initial coordinate to the finial coordinate, the container paths should be built in terms of the least time and without sway. Therefore, we calculated the anti-collision path for avoiding collision in its movement to the finial coordinate in this paper. And we constructed the neural network predictive two degree of freedom PID controller to control the precise navigation. The proposed predictive control system is composed of the neural network predictor, two degree of freedom PID controller, neural network self-tuner which yields parameters of two degree of freedom PID. We analyzed crane system through simulation, and proved excellency of control performance over the conventional controllers.
동적 신경회로망을 이용한 비선형 크레인 시스템의 위치제어
韓承勳(Seong Hun Han),曺賢哲(Hyun Cheol Cho),李權純(Kwon Soon Lee) 대한전기학회 2007 전기학회논문지 Vol.56 No.5
This paper presents position control of nonlinear three-dimensional crane systems using neural network approach. Such crane system generally includes very complicated characteristic dynamics and mechanical framework such that its mathematical model is expressed by strong nonlinearity. This leads difficulty in control design for the systems. We linearize the nonlinear system model to construct PID control applying well-known linear control theory and then neural network is utilized to compensate system perturbation due to linearization. Thus, control input of the crane system is composed of nominal PID and neural output signals respectively. Our method illustrates simple design procedure, but system perturbation and modelling error are overcome through a neural compensator. As well, adaptive neural control is constructed from online learning. Computer simulation demonstrates our control approach is superior to the classic control systems.
한승훈(Seung Hun Han),정우영(Woo Young Chung),김보현(Bo Hyun Kim),최지아(Ji Ah Choi),배지원(Ji Won Bae),장지성(Ji Seong Jang) 유공압건설기계학회 2017 유공압건설기계학회 학술대회논문집 Vol.2017 No.11
Semi-submersible drilling rigs are offshore plants that perform function such as ocean exploration for oil and gas acquisition, drilling and production, storage and unloading of crude oil and gas. Semi-submersible drilling rigs use watertight dampers as emergency buoyancy holders. Since the watertight damper is an emergency shutoff device, it is mainly driven by a pneumatic driving system that can operate without power supply. Pneumatic driving system has highly non-linear characteristics due to compressibility of air and external disturbance such as static and coulomb friction. In this paper, a new control algorithm is proposed for the watertight damper driving system based on the sliding mode control. To evaluate control performance and robust stability of the designed controller, the control results were compared with the results using the state feedback controller.
한승훈(Seung Hun Han),장지성(Ji Seong Jang),지상원(Sang Won Ji) 유공압건설기계학회 2016 드라이브·컨트롤 Vol.13 No.3
This study describes the effect of the critical pressure ratio of a control valve on the performance of an air spring system composed of an air spring, auxiliary chamber, control valve and mass in order to suggest a more efficient design for an air spring system. The critical pressure ratio of the control valve is assumed to have a fixed value, but the critical pressure ratio of the control valve is known to have various values between 0.05 and 0.6, and the effect of the variation of the critical pressure ratio on the performance of the air spring system has not yet been reported. The analysis derives nonlinear and linear governing equations of the air spring system, including the critical pressure ratio of the control valve. This simulation study is presented to show that the impedance and transmissibility characteristics of the air spring system change due to variations in the critical pressure ratio of the control valve as well as its sonic conductance. As a result, the critical pressure ratio of the control valve should be maintained as large as possible to improve the vibration isolation characteristics of the air spring system.
한승훈(Seung Hun Han),장지성(Ji Seong Jang) 유공압건설기계학회 2017 드라이브·컨트롤 Vol.14 No.2
Semi-submersible drilling rigs are offshore plants that perform functions such as ocean exploration for oil and gas acquisition, drilling and production, and storage and unloading of crude oil and gas. Semi-submersible drilling rigs use watertight dampers as emergency buoyancy holders. Since the watertight damper is an emergency shutoff device, it is mainly driven by a pneumatic driving system that can operate without a power supply. The pneumatic driving system has highly non-linear characteristics due to compressibility of air and external disturbance such as static and Coulomb friction. In this paper, a new control algorithm is proposed for a watertight damper driving system based on the sliding mode control with a disturbance observer. To evaluate control performance and robust stability of the designed controller, the control results were compared with the results obtained using the state feedback controller. As a result, it was confirmed that the pneumatic driving system for driving the watertight damper using the sliding mode controller with a disturbance observer can obtain excellent control performance against the parameter changes and the disturbance input.