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Design of Fuzzy PD+I Controller Based on PID Controller
Sea-June Oh,Heui-Han Yoo,Yun-Hyung Lee,Myung-Ok So 한국항해항만학회 2010 한국항해항만학회지 Vol.34 No.2
Since fuzzy controllers are nonlinear, it is more difficult to set the controller gains and to analyse the stability compared to conventional PID controllers. This paper proposes a fuzzy PD+I controller for tracking control which uses a linear fuzzy inference(product-sum-gravity) method based on a conventional linear PID controller. In this scheme the fuzzy PD+I controller works similar to the control performance as the linear PD plus I(PD+I) controller. Thus it is possible to analyse and design an fuzzy PD+I controller for given systems based on a linear fuzzy PD controller. The scaling factors tuning scheme, another topic of fuzzy controller design procedure, is also introduced in order to fine performance of the fuzzy PD+I controller. The scaling factors are adjusted by a real-coded genetic algorithm(RCGA) in off-line. The simulation results show the effectiveness of the proposed fuzzy PD+I controller for tracking control problems by comparing with the conventional PID controllers.
Design of Fuzzy PD+I Controller Based on PID Controller
Oh, Sea-June,Yoo, Heui-Han,Lee, Yun-Hyung,So, Myung-Ok Korean Institute of Navigation and Port Research 2010 한국항해항만학회지 Vol. No.
Since fuzzy controllers are nonlinear, it is more difficult to set the controller gains and to analyse the stability compared to conventional PID controllers. This paper proposes a fuzzy PD+I controller for tracking control which uses a linear fuzzy inference(product-sum-gravity) method based on a conventional linear PID controller. In this scheme the fuzzy PD+I controller works similar to the control performance as the linear PD plus I(PD+I) controller. Thus it is possible to analyse and design an fuzzy PD+I controller for given systems based on a linear fuzzy PD controller. The scaling factors tuning scheme, another topic of fuzzy controller design procedure, is also introduced in order to fine performance of the fuzzy PD+I controller. The scaling factors are adjusted by a real-coded genetic algorithm(RCGA) in off-line. The simulation results show the effectiveness of the proposed fuzzy PD+I controller for tracking control problems by comparing with the conventional PID controllers.
Speed Control System for Marine Diesel Engine Using Genetic Algorithm
So, Myung-Ok,Oh, Sea-June,Lee, Yun-Hyung The Korean Society of Marine Engineering 2004 한국마린엔지니어링학회지 Vol.28 No.2
The conventional PID controller has been widely used in many industrial control systems although modern control theory has been remarkably developed recently. Because engineer can easily understand how to deal with the PID controller which consists of three parameters. This PID control method, however. has a tendency to depend on experience. Genetic Algorithm can search the control parameters according to systematic procedure in a selected plant. In this paper the real coded genetic algorithm is used to search proper values of the PID controller parameters for marine diesel engine. Simulation results show the effectiveness of the proposed scheme.
Tracking Controller Design fur Systems with Delay in the Control
Jin, Gang-Gyoo,Oh, Sea-June,Ha, Joo-Shik Korean Society of Marine Engineers 1990 한국마린엔지니어링학회지 Vol.14 No.3
제어입력에 무시하지 못할 정도의 시간지연이 있는 시스템에 있어서의 강인한 제어기를 설계하고 실현하는 문제를 다루었다. 본 논문에서 제안하는 제어기를 설계하기 위하여 전향 방향에 적분기 하나를 추가하고 빠른 응답 특성을 주기 위하여 상태변수 $x_1$ 대신 오차신호 y-$y_r$를 궤환 하도록 하였으며 여기서 일어날 수 있는 오우버슈터를 줄이기 위하여 Integral reset scheme을 이용하였다. 제어기 실현을 위하여서는 궤환되어지는 모든 상태변수의 측정이 요구되나 실제 제어 문제에서는 경제적, 기술적인 문제로 그렇지 못하므로 측정 불가능한 상태변수는 상태관측기를 구성하여 이용하도록 하였다.
Development of Stress Indices for Trunnion Pipe Support
Kim Jong Min,Park Myung Kyu,Eom Sea Yoon,L:ee Dae Hee,Park June Soo 한국전산구조공학회 1996 한국전산구조공학회논문집 Vol.9 No.3
배관을 구속시키기 위한 원동형 배관 지지대 (Trunnion Pipe Support) 까 부착된 uß 간의 응-딱해석플 위하 여 유한요소해석을 사용하였다. 해석션파로 부터 얻어진 응역은 두께에 대한 평칸(막응역) 넷 선행 응→박( ""," 힘응력) 으로 분류 되었므며, 분류된 응벽값은 암략에 악한 언차응략겨l 수 (B 1 ) 와 이자응역겨l 수 (C 1 ) , 보멘트에 의한 일차응력계수 (B" , Bιr) 와 이차응략셰수 (C객, C!T) 플- 추성하시 위하여 ASME Code 에 성의뭔것파 일치 하게 해석되었다 무차원의 함수로써 응력 세수에 대한 경험식 얀 새만히기 위하여 여서 ~i~ l;'l 의 해삭 2~ 수행하 였다. A finite element analysis of a trunnion pipe anchor is presented, The structure is analyzed for the case of internal pressure and moment loadings , The stress results are categorized into 1:he average (membrance) and the linearly varying(bending) stresses through the thickness, The resulting stresses are interpreted per Section 머 of the ASME Boiler and Pressure Vessel Code from which 1:he Primary (Bl) and Secondary(C1) stress indices for pressure, the Primary(BëR, Bιr) and Secondary(C"" C이 ) stress indices for moment are developed. Several analyses were performed for various structural geometries in order to obtain empirical representation for the stress indices in terms of dimensionless ratios.
Motion Control of Omnidirectional Mobile Platform for Path Following Using Backstepping Technique
Viet-Tuan Dinh,Thinh Doan-Phuc,Hoang Giang,Hak Kyeong Kim,Sea June Oh,Sang Bong Kim 한국해양공학회 2011 韓國海洋工學會誌 Vol.25 No.5
The paper proposes a controller design for an omnidirectional mobile platform (OMP) with three wheels using backstepping control. A kinematic model and dynamic model of the system are presented. Based on the dynamic modeling a backstepping controller is designed to stabilize the OMP when following a desired path. The controller is designed based on a backstepping control theory. It includes two steps: first, a virtual state and a stability function are introduced. Second, Lyapunov functions for the system are chosen and an equation for the virtual control that makes the system stabile is obtained. The system stability is guaranteed by the Lyapunov stability theory. The simulation and experimental results are presented to demonstrate the effectiveness of the proposed controller.
Jotje Rantung,Jong Min Oh(오종민),Hak Kyeong Kim(김학경),Sea June Oh(오세준),Sang Bong Kim(김상봉) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.2
This paper proposes the real-time image segmentation and determination of 3D coordinates for fish surface area and volume measurements based on stereo vision. The segmentation process is performed in real-time on the video frame. Complexity and computation time are reduced by segmenting hue and value feature spaces separately before combining result. Morphological erosion and morphological dilation are applied to remove any object pixels that are clustered as background pixels. Finally, image segmentation is obtained in the binary image of an object. A step-by-step approach to computing a binary image is applied to obtain segmentation image. The object is considered a fish on a platform with a known background color, a known geometric shape for the fish, and the stereo camera is in fixed position to capture an image. The objective of this paper is to obtain a simple but accurate 3D image that is capable of capturing the 3D coordinates values of the fish object. The followings are done for this task: First, the stereo camera is calibrated to collect its intrinsic parameters and distortion parameters correctly. Second, an image is captured by the camera, that is segmented in real-time to distinguish between the object’s destination and its surroundings. Finally, the object coordinates, surface area, and volume of the fish are measured. Experiment results show that the proposed method has good results in real-time segmentation, and shows different surface areas and volumes within about 6% and 5.3%, respectively.