디지탈 적응 제어기에 의한 DC 서보계의 위치제어

高泰彦 東義大學校産業技術開發硏究所 1995 産業技術硏究誌 Vol.9 No.-

This paper deals with adaptive control of a direct-drive servo motor for positioning applications. The servo motor is permanent-magnet dc servo motor in which no speed reducer is used. The regulator is based on a pole-placement technique and an on-line idntification algorithm. The parameters of regulator may be calculated by pole-placement, deadbeat response, etc. The real-time on-line parameter estimation is usually based on a recursive least-squares algorithm.

直流電動機의 速度應答改善을 위한 制御器의 設計

高泰彦 東義大學校産業技術開發硏究所 1990 産業技術硏究誌 Vol.4 No.-

The armature voltage control of "dc" motor using PI controller improves the characteristic of speed response but the transient and steady state error in starting and speed variation, which is caused by disturbance or load torque in the steady state, is occured. In this paper, to suppress the error and compensate the speed variation, the new controller which can estimate and compensate the torque, is proposed. This controller is expected to realize no steady state error in employing the PI controller and this system using the new controller has merit that the response to torque can be determined independently of the response to speed reference.

다층 신경망에 의한 I-PD 제어계의 구성

고태언 한국융합신호처리학회 2002 융합신호처리학회 논문지 (JISPS) Vol.3 No.1

Many control techniques have been proposed in order to improve the control performance in discrete-time domain control system. In control system using these techniques, the response-characteristic of system is dependent on the gains of the controller. Specially, There is a need to readjust the gain of controller when the response of system is changed by disturbance or load fluctuation. In this paper, I-PD controller and pre-compensator are designed by multilayer neural network. The gains of I-PD controller and pre-compensator are adjusted automatically by back propagation algorithm when the response characteristic of system is changed under a condition. Applying this control technique to the position control system using a DC servo motor as a driver, the control performance of controller is verified by the results of experiment. 많은 제어기법들이 이산시간영역제어계에서 제어성능을 개선하기 위해서 제안되고 있다. 이 제어기법들을 이용한 제어계에서 계의 응답특성은 제어기의 이득에 관계한다. 특히 외란이나 부하변동에 의해서 계의 응답이 변할 때 제어기의 이득을 재조정할 필요가 있다. 본 논문에서는 다층 신경망으로 I-PD제어기와 전치보상기를 설계하였다. I-PD제어기와 전치보상기의 이득이 자동적으로 역전파 알고리즘에 의해서 조정되도록 하였다. 제어계의 응답이 어떤 조건에 의해서 변할 때 I-PD제어기와 전치보상기의 이득들이 역전파 알고리즘에 의해서 자동적으로 조정되게 하였다. 이 I-PD제어기법을 직류 서보 전동기를 구동원으로 하는 위치제어계에 적용하여 제어기의 제어성능을 실험 결과로 타당성을 확인하였다.

본드 그래프 모델링 방식을 이용한 모델 추종형 Sero 제어기의 설계

高泰彦,李泰基,朴斗煥,河泓坤 東義大學校産業技術開發硏究所 1991 産業技術硏究誌 Vol.5 No.-

In this paper, the integrator used to reduce the error between the reference signal and response, and DC motor are described by bond graph. Then the model following servo controller which have the high adaptation with respect to inertia, disturbance and/or load variation in the speed control system of DC motor is designed by the bond graph.

電磁 Actuator에서 等價線形化法에 의한 Dither 效果

高泰彦,河泓坤,朴斗煥,李泰基 東義大學校 産業技術開發硏究所 1992 産業技術硏究誌 Vol.6 No.-

In this paper, the electromagnetic actuator is designed and constructad in a solenoid type. Then this is used for detecting the displacement of a position control system. A compensating method-the sinusoidal signal is supllied to the input terminal of a power amplifier by an external generator for reducing non-linear response in a position control system is proposed. By method which vary the amplitude and frequency in sinusoidal signal, we can verify the usefulness of this method in obtaining the best characteristics of position response in the position control system using the electromagnetic actuator.

마이크로프로세서를 利用한 直流Servo 電動機의 適應制御

高泰彦,李泰基,河泓坤 東義大學校産業技術開發硏究所 1988 産業技術硏究誌 Vol.2 No.-

In this paper, a concept of two-degrees-of-freedom control to dc servo motor is represented. Two-degrees-of-freedom control system consists of two controllers ; an adaptive controller used to reduce system sensitivity, and a deadbeat controller used to specify the system transfer function. The advantage of this approach is that both system sensitivity and system response can be designed and realized independently. In an adaptive control, model reference adaptive control system are capable of adjusting to dc servo-motor parameter variations, but this generally require extensive computations, and sometimes have difficulty compensating for large disturbance effects. By this method, a linear multiloop feedback control system is adopted with a simple and stable structure and with reasonable computational requirements. The proposed system can reduce the state error and compensate for parameter variations and disturbances. Experimental resalts show that the proposed method is robust for the transient response in the presence of reasonable parameter variations and disturbances.

極配置에 의한 位置決定 Servo系의 制御器

高泰彦,朴英式 東義大學校産業技術開發硏究所 1993 産業技術硏究誌 Vol.7 No.-

DC Servo motor has been often used as the drive-mechine in the position Control system, because the performance of the control is excellent on the velocity and position control. When the unknown disturbance and/or the varying quantity of the load torque is imposed on the position control system, the response of the system has the steady and/or the transient state error. In the paper, the design of a Servo controller for reducing the error is proposed, and the parameters of the controller are estimated by the pole placement. The effectiveness of the controller is confirmed by using computer simulation.

직류 서보계의 오차신호 보상을 위한 신경망 제어기의 구성

고태언,이황재,남기봉 東義大學校産業技術開發硏究所 1998 産業技術硏究誌 Vol.12 No.-

The servo system requires faster and more accurate dynamic response. In many control techniques for servo system, the P-I control is mainly used to obtain precious response. But in the response-characteristic of the position control system controlled by the P-I controller, the transient response is more increased and settling time get longer. This paper proposed an algorithm using neural network for compensating error signal in the P-I controller. To show the effectiveness of the proposed algorithm, the computer simulation is performed to mathematical model of DC motor.

平衡機構를 利用한 位置制御系에서 Dither 效果

河泓坤,高泰彦,朴英式 東義大學校産業技術開發硏究所 1989 産業技術硏究誌 Vol.3 No.-

A balancing-mechanism which is designed and constructed by the concept of a ball-balancing, is used for detecting the displacement of a position control system. A compensating method-the sinusoidal signal is supplied to the input-terminal of a power amplifier by an external generator-for reducing the monlinear response in a position control system, is proposed. By this method varying the amplitude and frequency in a sinusoidal signal, we can verify the usefulness of this method in obtaining the best characteristics of speed response and position response in the position control system using a balancing-mechanism.

오차역전파를 이용한 동기발전기의 최적운전에 관한 연구

이오걸,고태언,김상효 東義大學校 産業技術開發硏究所 1997 産業技術硏究誌 Vol.11 No.-

In this paper, we proposed design technique of neural network controller and applied to power system stabilization. Using learning algorithm of error back propagation accept input error and change of error, the moment learning technique be used which reduction for learning time was possible for real time control. The related simulation results show that the proposed control technique are more powerful than then conventional ones for dynamic responses.