Go to the main menu
Skip to content
Go to bottom
REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
> Journal Vol & Issue
Journal of Institute of Control, Robotics and Systems
Journal Basic Information
Journal DOI :
Institute of Control, Robotics and Systems
Editor in Chief :
Volume & Issues
Volume 2, Issue 4 - Dec 1996
Volume 2, Issue 3 - Sep 1996
Volume 2, Issue 2 - Jun 1996
Volume 2, Issue 1 - Mar 1996
Selecting the target year
Design of a robust gauge controller for a single-stand cold rolling mill
An, Hyeon-Sik ; Yun, Tae-Ung ; Kim, Gwang-Bae ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 134~141
In this paper, we formulate the mathematical model for a single-stand rolling mill and design control systems for the thickness control at the exit of roll stand and for the tension control of the strip in the process. We propose a thickness controller based on the Internal Model Control structure which can be an effective application when the frequency components of the thickness deviation of the entry strip are known and, show how it can be appropriately combined with BISRA AGC method for a precise thickness control while maintaining the robustness against the modeling error of the mill modulus. It is illustrated by simulations that the proposed thickness control method gives better performance than existing methods and has the robustness against the modeling error of the mill modulus as well.
Nonlinear system control using neural network guaranteed Lyapunov stability
Seong, Hong-Seok ; Lee, Kwae-Hui ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 142~147
In this paper, we describe the algorithm which controls an unknown nonlinear system with multilayer neural network. The multilayer neural network can be used to approximate any continuous function to any desired degree of accuracy. With the former fact, we approximate unknown nonlinear function on the nonlinear system by using of multilayer neural network. The weight-update rule of multilayer neural network is derived to satisfy Lyapunov stability. The whole control system constitutes controller using feedback linearization method. The weight of neural network which is used to implement nonlinear function is updated by the derived update-rule. The proposed control algorithm is verified through computer simulation.
Model-based iterative learning control with quadratic criterion for linear batch processes
Lee, Kwang-Soon ; Kim, Won-Cheol ; Lee, Jay-H ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 148~157
Availability of input trajectories corresponding to desired output trajectories is often important in designing control systems for batch and other transient processes. In this paper, we propose a predictive control-type model-based iterative learning algorithm which is applicable to finding the nominal input trajectories of a linear time-invariant batch process. Unlike the other existing learning control algorithms, the proposed algorithm can be applied to nonsquare systems and has an ability to adjust noise sensitivity as well as convergence rate. A simple model identification technique with which performance of the proposed learning algorithm can be significantly enhanced is also proposed. Performance of the proposed learning algorithm is demonstrated through numerical simulations.
Robust stability for discrete time-delay systems with perturbations
Park, Ju-Hyeon ; Won, Sang-Cheol ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 158~164
In this paper, we consider the problem of robust stability of discretd time-delay systems subjected to perturbations. Two classes of perturbations are treated. The first one is the nonlinear norm-bounded perturbation, and the second is the structured time-varying parametric perturbation. Based on the discrete-time Lyapunov stability theory, several new sufficient conditions for robust stability of the system are presented. From these conditions, we can estimate the maximum allowable bounds of the perturbations which guarantee the stability. Finally, numerical examples are given to demonstrate the effectiveness of the results.
Iterative learning control of nonlinear systems with consideration on input magnitude
Choi, Chong-Ho ; Jang, Tae-Jeong ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 165~173
It is not desirable to have too large control input in control systems, because there are usually a limitation for the input magnitude and cost for the input energy. Previous papers in the iterative learning control did not considered on these points. In this paper, an iterative learning control method is proposed for a class of nonlinear systems with consideration on input magnitude by adopting a concept of cost function consisting of the output error and the input magnitude in quadratic form. We proposed a new input update law with an input penalty function. If we choose a reasonable input penalty function, the two control objectives, good command following and small input energy, can be achieved. The characteristics of the proposed method are shown in the simulation examples.
A friction compensation scheme based on the on-line estimation with a reduced model
Choi, Jae-Il ; Yang, Sang-Sik ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 174~180
The friction is one of the nonlinearities to be considered in the precise position control of a system which has electromechanical components. The friction has complicated nonlinear characteristics and depends on the velocity, the position and the time. The conventional fixed friction compensator and the controller based on linear control theory may cause the steady state position error or oscillation. The plant to be controlled in this study is a positioning system with a linear brushless DC motor(LBLDCM). The system behaves like a 4th-order model including the compliance and the friction. In this study, the plant model is simplified to a 2nd-order model to reduce the computation in on- line estimation. Also, to reduce the computation time, only the friction is estimated on-line while the mass and the viscous damping coefficient are fixed to the values obtained from off-line estimation. The validity of the proposed scheme is illustrated with the computer simulation and the experiment where the friction is compensated by using the estimation.
Position control of the frictionless positioning device suspended by cone-shaped active magnetic bearings
Jeong, Ho-Seop ; Lee, Chong-Won ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 181~187
A frictionless positioning device using cone-shaped active magnetic bearings(AMBs) is developed, which is driven by a brushless DC motor equipped with resolver. The cone-shaped AMB feature that the structure is simple and yet the five d.o.f. rotor motion is controlled by four magnet pairs. A linearized dynamic model, which accounts for the relationship between input voltage and output current in the cone-shaped magnet, is developed and the azimuth motion of the frictionless positioning device is modeled as the second order system. The feedback controller is designed by using linear quadratic regulator with integral action optimal control law so that the cone-shaped AMB system is stabilized and the frictionless positioning device gets the zero steady state. It is observed that the linearized dynamic model is adequate and the frictionless positioning device can achieve the tracking accuracy within the sensor resolution.
Design of a navigation system using GPS and dead-reckoning
Kim, Jin-Won ; Jee, Gyu-In ; Lee, Jang-Gyu ; Lee, Young-Jae ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 188~193
In this paper, an integrated navigation system based on GPS(Global Positioning System) and Dead-Reckoning (DR) is designed. For the calibration of DR, a self-calibration method and a GPS-based calibration method are proposed. From the field-test results, it is shown that DR can be successfully calibrated by the two proposed calibration methods. Also, a cascaded filter approach and a mixed-measurement algorithm are employed for GPS/DR integration. By using the newly proposed mixed-measurement algorithm, it is shown in simulation that the position error becomes smaller than by using only DR even if the number of visible GPS satellites is less than 4.
Radiation power estimation for the planar array acoustic sensor considering mutual coupling effects
Lee, Jong-Kil ; Seo, In-Chang ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 194~199
METRO - A Free Ranging Mobile Robot with a Laser Range Finder
Cha, Young-Youp ; Gweon, Dae-Gap ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 200~208
This paper describes the mechanism, guidance, sensor system, and navigation algorithm of METRO, a free ranging mobile robot. METRO is designed for use in structured surroundings or factory environments rather than unstructured natural environments. An overview of the physical configuration of the mobile robot is presented as well as a description of its sensor system, an omnidirectional laser range finder. Except for the global path planning algorithm, a guidance and a navigation algorithm with a local path planning algorithm are used to navigate the mobile robot. In METRO the computer support is divided into a supervisor with image processing and local path planning and a slave with motor control. The free ranging mobile robot is self-controlled and all processing being performed on board.
Performance analysis of the data link layer of IEC/ISA fieldbus system by simulation model
Lee, Seong-Geun ; Hong, Seung-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 209~219
Fieldbus provides a real-time data communication among field devices in the process control and manufacturing automation systems. In this paper, a Petri Net model of the 1993 draft of IEC/ISA fieldbus which is proposed as an international standard of fieldbus network is developed. Based on the Petri Net model, discrete-event simulation model of IEC/ISA fieldbus network is developed. This paper evaluates the network induced delay in the data link layer of IEC/ISA fieldbus using the simulation model. In addition, an integrated discrete-event/continuous-time simulation model of fieldbus system and distributed control system is developed. This paper investigates the real-time data processing capability of IEC/ISA fieldbus and the effect of network-induced delay to the performance of control system.
Performance analysis of fieldbus systems using Petri net
Park, Hong-Seong ; Lee, Jae-Soo ; Hong, Seong-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 220~228
This paper presents a extended stochastic Petri net (ESPN) model for CTN(Circulated Token with No duration) service in the data link layer of IEC/ISA fieldbus. It is assumed that a station on the fieldbus has a specified minimum token holding time, a finite capacity buffer, and one transmitter queue with the highest priority. The mean transmission (or service) time at a station and the mean token rotation time for the symmetric fieldbus system atr derived using the presented SPN model and the moment generating function. These performance measures are represented in terms of the minimum token holding time, the number of stations, the arrival rate of messages, and the mean length of messages. The presented performance measure are validated by computer simulations.
The hand-drawn diagram recognition for OrCAD matching
Park, Young-Sik ; Kim, Jin-Hong ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 229~235
CAD diagrams generally consists of many basic components: symbols, character, and connection lines. Thus, to recognize the diagrams, it is necessary to extract each components, and understand their meanings and relation among them. This paper describes a method for linking basic components extracted efficiently from hand-down diagrams to OrCAD data format. Experimental results with a hand-drawn diagrams of electronic and logic circuit show utility of the proposed method.
Development of an intelligent and integrated system for automatic inspection of steam-generator tubes in nuclear power plant
Kang, Soon-Ju ; Choi, Yoo-Rark ; Choe, Seong-Su ; Woo, Hee-Gon ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 236~241
This paper presents a new eddy current testing system for inspecting tubes of steam generator in nuclear power plant. The proposed system adopted embedded expert system concept to automate tasks of the inspection such as inspection planning and flaw signal interpretation, and integrated all the tasks into a client/server type computing architecture using database management system. Therefore, human factor errors occurred during inspection could be minimized and the inspection data could be transferred in real-time. As a result, we can increase the level of inspection confidence and the productivity of a personal inspector. A prototype of the proposed system has been developed for 5 years and the test operation has been performed in domestic nuclear power plants.
Optimal strapdown coning compensation algorithm
Park, Chan-Gook ; Kim, Kwang-Jin ; Lee, Jang-Gyu ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 3, 1996, Pages 242~247
In this paper, an optimal coning compensation algorithm for strapdown system is proposed by minimizing the coning error. The proposed algorithm is derived as a generalized form in that it contains the class of the existing coning algorithms and allows the design of optimal algorithm for various combinations of gyro samples. It is shown the magnitude of resulting algorithm errors depends mainly on the total number of gyro samples including present and previous gyro samples. Based on the results, the proposed algorithm enables the algorithm designers to develop the effective coning compensation algorithm according to their attitude computation specifications with ease. In addition, the multirate method which can efficiently implement the algorithm is presented.