• Title/Summary/Keyword: Gain Scheduler

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Distributed Control of the Arago's Disc System with Gain Scheduler

  • Ibrahim, Lateef Onaadepo;Choi, Goon-Ho
    • Journal of the Semiconductor & Display Technology
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    • v.16 no.3
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    • pp.25-30
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    • 2017
  • Arago's disk system consists of a speed controller of the DC motor (inner loop controller) and a position controller of the magnetic bar angle (main controller), which are implemented by the design of the PI and PID controller, respectively. First, we analyzed the nonlinear characteristics of the Arago disk system and found the operating point range of three locations as a result. In this paper, a gain scheduler method was applied to guarantee a constant control performance in the range of $0{\sim}130^{\circ}C$, and a structure to change the controller according to the control reference value based on the previously obtained operating points was experimentally implemented. The Distributed Control Systems (DCS) configuration using the Controller Area Network (CAN) was used to verify the proposed method by improving the operational efficiency of the entire experimental system. So, simplicity of the circuit and easy diagnosis were achieved through a single CAN bus communication.

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Decoupling Control of the Modified Arago System Using Cross Compensator with Gain Scheduler Structure (게인 스케줄러 구조의 교차 보상기를 사용한 변형 아라고시스템의 비결합 제어)

  • Choi, Goon-Ho
    • Journal of the Semiconductor & Display Technology
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    • v.19 no.4
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    • pp.105-111
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    • 2020
  • In most multiple input/output systems, one input affects two or more different outputs. Therefore, there are many inconveniences in using the actual system. In order to solve this problem, a controller that makes an input signal and an output correspond 1:1 is called a decoupling controller. In this paper, I try to implement a relatively simple decoupling controller using a cross-compensator, that is, a compensator that takes an uncorresponding output as an input value. And this cross-compensator has a gain scheduler structure in order to increase the performance. In addition, this system is designed with a distributed control structure using CAN communication, so that it can be manufactured and operated in an easier way when implementing an actual experimental system. The proposed structure is applied to the modified new Arago's disk system and tested, and through this, the effectiveness is confirmed and reported.

Fuzzy Gain Scheduling of Velocity PI Controller with Intelligent Learning Algorithm for Reactor Control

  • Kim, Dong-Yun;Seong, Poong-Hyun
    • Proceedings of the Korean Nuclear Society Conference
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    • pp.73-78
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    • 1996
  • In this study, we proposed a fuzzy gain scheduler with intelligent learning algorithm for a reactor control. In the proposed algorithm, we used the gradient descent method to learn the rule bases of a fuzzy algorithm. These rule bases are learned toward minimizing an objective function, which is called a performance cost function. The objective of fuzzy gain scheduler with intelligent learning algorithm is the generation of adequate gains, which minimize the error of system. The condition of every plant is generally changed as time gose. That is, the initial gains obtained through the analysis of system are no longer suitable for the changed plant. And we need to set new gains, which minimize the error stemmed from changing the condition of a plant. In this paper, we applied this strategy for reactor control of nuclear power plant (NPP), and the results were compared with those of a simple PI controller, which has fixed gains. As a result, it was shown that the proposed algorithm was superior to the simple PI controller.

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Gain Scheduler Control for Networked Mobile Robot (네트워크 기반 이동로봇에 대한 이득 스케줄러 제어)

  • Yun, Sang-Seok;Park, Kyi-Hwan
    • Proceedings of the KIEE Conference
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    • pp.315-318
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    • 2005
  • This paper characterizes the performance for a remote path tracking control of the mobile robot in IP network viamiddleware. The middleware is used to alleviate the effect of the delay time on a mobile robot path tracking in Network-Based Control environment. The middleware also can be implemented in a modular structure. Thus, a controller upgrade or modification for other types of network protocols or different control objectives can be achieved easily. A case study on a mobile robot path-tracking with IP network delays is described. The effectiveness of the proposed approach is verified by experimental results.

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Automatic Landing in Adaptive Gain Scheduled PID Control Law

  • Ha, Cheol-Keun;Ahn, Sang-Won
    • 제어로봇시스템학회:학술대회논문집
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    • pp.2345-2348
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    • 2003
  • This paper deals with a problem of automatic landing guidance and control system design. The auto-landing control system for the longitudinal motion is designed in the classical PID controller. The controller gains are properly adapted to variation of the performance using fuzzy logic as a gain scheduler for the PID gains. This control logic is applied to the problem of the automatic landing control system design. From the numerical simulation using the 6DOF nonlinear model of the associated airplane, it is shown that the auto-landing maneuver is successfully achieved from the start of the flight conditions: 1500 ft altitude, 250 ft/sec airspeed and zero flight path angle.

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Longitudinal Automatic Landing in AdaptivePID Control Law Under Wind Shear Turbulence

  • Ha, Cheol-keun;Ahn, Sang-Won
    • International Journal of Aeronautical and Space Sciences
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    • v.5 no.1
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    • pp.30-38
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    • 2004
  • This paper deals with a problem of automatic landing guidance and control ofthe longitudinal airplane motion under the wind shear turbulence. Adaptive gainscheduled PID control law is proposed in this paper. Fuzzy logic is the main part ofthe adaptive PID controller as gain scheduler. To illustrate the successful applicationof the proposed control law to the automatic landing control problem, numericalsimulation is carried out based on the longitudinal nonlinear airplane model excited bythe wind shear turbulence. The simulation results show that the automatic landingmaneuver is successfully achieved with the satisfactory performance and the gainadaptation of the control law is made adequately within the limited gains.

Design and experiment of fuzzy PID yaw rate controller for an electrically driven four wheel vehicle without steering mechanism

  • I, H
    • Journal of the Korean Institute of Intelligent Systems
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    • v.9 no.5
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    • pp.480-489
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    • 1999
  • Design and experimental results of yaw rate controller is described for electricallydriven four wheel vehicle without steering mechanism. Yaw rate controller has been known to be necessary to cope with nonlinear char-acteristics of the wheel/road conditions with respect to different road condition and steering angle. For an effective yaw rate control, a fuzzy PID gain scheduler is considered with changing control parameters. In order to apply proposed algorithm to the system a downsized four wheel drive electrically driven vehicle without steering mechanism was manufactured. With these techniques the proposed yaw rate controller is shown by experiment results to be obtained suficient performance in the whole steering regions.

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Temperature Control of a CSTR using Fuzzy Gain Scheduling (퍼지 게인 스케쥴링을 이용한 CSTR의 온도 제어)

  • Kim, Jong-Hwa;Ko, Kang-Young;Jin, Gang-Gyoo
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.9
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    • pp.839-845
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    • 2013
  • A CSTR (Continuous Stirred Tank Reactor) is a highly nonlinear process with varying parameters during operation. Therefore, tuning of the controller and determining the transition policy of controller parameters are required to guarantee the best performance of the CSTR for overall operating regions. In this paper, a methodology employing the 2DOF (Two-Degree-of-Freedom) PID controller, the anti-windup technique and a fuzzy gain scheduler is presented for the temperature control of the CSTR. First, both a local model and an EA (Evolutionary Algorithm) are used to tune the optimal controller parameters at each operating region by minimizing the IAE (Integral of Absolute Error). Then, a set of controller parameters are expressed as functions of the gain scheduling variable. Those functions are implemented using a set of "if-then" fuzzy rules, which is of Sugeno's form. Simulation works for reference tracking, disturbance rejecting and noise rejecting performances show the feasibility of using the proposed method.

Design of Guidance and Control Algorithm for Autolanding In Windshear Environment Using Fuzzy Gain Scheduling (퍼지 게인스케듈링을 적용한 자동착륙 유도제어 알고리즘 설계 : 윈쉬어 환경에서의 착륙)

  • Ha, Cheol-Keun;Ahn, Sang-Woon
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.1
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    • pp.95-103
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    • 2008
  • This paper deals with the problem of autolanding for aircraft under windshear environment for which the landing trajectory is given. It is well known that the landing maneuver in windshear turbulence is very dangerous and hard for the pilot to control because windshear is unpredictable in when and where it happens and its aerodynamic characteristics are complicated. In order to accomplish satisfactory autolanding maneuver in this environment, we propose a gain-scheduled controller. The proposed controller consists of three parts: PID controller, called baseline controller, which is designed to satisfy requirements of stability and performance without considering windshear, gain scheduler based on fuzzy logic, and safety decision logic, which decides if the current autolanding maneuver needs to be aborted or not. The controller is applied to a 6-DOF simulation model of the associated airplane in order to illustrate the effectiveness of the proposed control algorithm. It is noted that a cross wind in the lateral direction is included to the simulation model. From the simulation results it is observed that the proposed gain scheduled controller shows superior performance than the case of controller without gain scheduling even in severe downburst and tailwind region of windshear. In addition, touchdown along centerline of the runway is more precise for the proposed controller than for the controller without gain scheduling in the cross wind and the tailwind.