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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
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Journal DOI :
Institute of Control, Robotics and Systems
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Volume & Issues
Volume 7, Issue 12 - Dec 2001
Volume 7, Issue 11 - Nov 2001
Volume 7, Issue 10 - Oct 2001
Volume 7, Issue 9 - Sep 2001
Volume 7, Issue 8 - Aug 2001
Volume 7, Issue 7 - Jul 2001
Volume 7, Issue 6 - Jun 2001
Volume 7, Issue 5 - May 2001
Volume 7, Issue 4 - Apr 2001
Volume 7, Issue 3 - Mar 2001
Volume 7, Issue 2 - Feb 2001
Volume 7, Issue 1 - Jan 2001
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Eigenstructure Assigned Sliding Mode Control for Uncertain System
Chun, Kyung-Han ; Kim, Ga-Gue ; Jeon, Hea-Jin ; Park, Bong-Yeol ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 799~805
In this paper, we propose eigenstructure assigned sliding mode control for mismatched uncertain system. Variable structure control has the sliding mode in which the system is robust against the uncertainty and the sliding motion depends upon the sliding surface. Therefore, the surface design is one of the important problems. Also in mismatched cases, the uncertainty may affect on the sliding motion and may cause unexpected instability of the system. Thus, that should be considered, too. For robust sliding mode against the mismatched uncertainty, we suggest the design method of the sliding surface using the eigenstructure assignment, define an index as the measure of the robustness which shows the size of affordable unstructured uncertainty, and present the computation method. And also we propose the controller which can ensure the sliding mode and prove the robust stability of the proposed controller by using Lyapunov method. Finally we show the appropriateness of the proposed scheme for the mismatched uncertainty via the example.
Analysis and Control of an Unsymmetrical 3-Phase VR Type Self Bearing Step Motor
Kim, Dae-Gon ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 806~811
The analysis and control algorithm of a new type unsymmetrical self-bearing step motor is presented. The motor actuator is used for both motor and bearing functionality without any redundant coil windings or redudant electromagnets for bearing functionality. Self bearing step motor layout and control current generation method for unsymmetrical position of electromagnets are described. This new current generation method without additional current for bearing functionality leads to minimize the power loss. As the result of the unbalance response approach, the constant torque is possible, even though the bearing functionality is added or not.
Simultaneous Optimal Design of Control-Structure Systems for 2-D Truss Structure
Park, Jung-Hyen ; Kim, Soon-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 812~818
This paper proposes an optimum design method of structural and control systems, taking a 2-D truss structure as an example. The structure is supposed to be subjected to initial static loads and disturbances. For the structure, a FEM model is formed, and using modal transformation, the equation of motion is transformed into that of modal coordinates in order to reduce the D.O.F. of the FEM model. The structure is controlled by an output feedback $H^
$ controller to suppress the effect of the disturbances. The design variables of the simultaneous optimal design of control-structure systems are the cross sectional areas of truss members. The structural objective function is the structural weight. The control objective function is the $H^
$ norm, that is, the performance index of control. The second structural objective function is the energy of the response related to the initial state, which is derived from the time integration of the quadratic form of the state in the closed-loop system. In a numerical example, simulations have been carried out. Through the consideration of structural weight and $H^
$ norm, an advantage of the simultaneous optimum design of structural and control systems is shown. Moreover, while the optimized performance index of control is almost kept, we can acquire better design of structural strength.
A Study on Adaptive Random Signal-Based Learning Employing Genetic Algorithms and Simulated Annealing
Han, Chang-Wook ; Park, Jung-Il ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 819~826
Genetic algorithms are becoming more popular because of their relative simplicity and robustness. Genetic algorithms are global search techniques for nonlinear optimization. However, traditional genetic algorithms, though robust, are generally not the most successful optimization algorithm on any particular domain because they are poor at hill-climbing, whereas simulated annealing has the ability of probabilistic hill-climbing. Therefore, hybridizing a genetic algorithm with other algorithms can produce better performance than using the genetic algorithm or other algorithms independently. In this paper, we propose an efficient hybrid optimization algorithm named the adaptive random signal-based learning. Random signal-based learning is similar to the reinforcement learning of neural networks. This paper describes the application of genetic algorithms and simulated annealing to a random signal-based learning in order to generate the parameters and reinforcement signal of the random signal-based learning, respectively. The validity of the proposed algorithm is confirmed by applying it to two different examples.
Design of Steering Controller of AGV using Cell Mediate Immune Algorithm
Lee, Yeong-Jin ; Lee, Jin-U ; Lee, Gwon-Sun ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 827~836
The PID controller has been widely applied to the most control systems because of its simple structure and east designing. One of the important points to design the PID control system is to tune the approximate control parameters for the given target system. To find the PID parameters using Ziegler Nichols(ZN) method needs a lot of experience and experiments to ensure the optimal performance. In this paper, CMIA(Cell Mediated Immune Algorithm) controller is proposed to drive the autonomous guided vehicle (AGV) more effectively. The proposed controller is based on specific immune responses of the biological immune system which is the cell mediated immunity. To verify the performance of the proposed CMIA controller, some experiments for the control of steering and speed of that AGV are performed. The tracking error of the AGV is mainly investigated for this purpose. As a result, the capability of realization and reliableness are proved by comparing the response characteristics of the proposed CMIA controllers with those of the conventional PID and NNPID(Neural Network PID) controller.
A Study on the Implementation of the DC Characteristic Measurement System for Semiconductor Devices
Park, In-Kyu ; Shim, Tae-Eun ; Jeong, Hae-Yong ; Kim, Jae-Chul ; Park, Jong-Sik ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 837~842
In this paper, we design and implement the DC characteristic measurement system for semiconductor devices. The proposed system is composed of 4 SMU(Source and Measure Unit) channels. Various efforts in hardware and software have been made to reduce the measurement errors. Internal and external sources of errors in measurement system especially in pA range measurement have been identified and removed. Also, various digital signal processing techniques are developed. Calibration is executed under the control of microprocessor periodically. Experimental results show that the implemented system can measure the DC characteristic of semiconductor devices with less than 0.2% error in various voltage and current source/measurement range.
Calibration Technique of a Gimballed INS by the Change of Schuler Period
Sin, Yong-Jin ; Kim, Cheon-Jung ; Park, Jeong-Hwa ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 843~848
Most of gimballed inertial navigation systems(GNIS) are calibrated periodically to maintain their inherent accuracy. The existing calibration techniques using the conventional schuler test with the least square method and the multiposition test take a long time and have some problems in procedures. To solve this problem, calibration method using a linear Kalman filter is proposed by us. In this paper, the calibration method by the change of Schuler period is studied in order to improve the calibration performance of the gimballed INS. First of all, it is shown that the observability of Kalman filter is also enhanced the Schuler period is decreased. Simulation results show that the calibration performance using the present scheme is improved according to the decrease of the Schuler period and the calibration time is shortened extremely, too. And our proposed technique shows desirable estimation performance for the g-sensitive errors of inertial sensors in particular.
A Study on the Predictability of Random Time Delay of Telecontroller via Internet
Shim, Hyun-Seung ; Huh, Kyung-Moo ; Kim, Jang-Gi ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 849~858
One of the important problems which should be solved in the telecontroller control is the time delay problem. In this paper, we propose a method of solving a random time delay problem using QoS(quality of service), and we show not only how to solve an unpredictable time delay problem but also how to compute a maximum time delay that could satisfy a basic assumption of many telecontroller methods. Using our proposed method, it is find that we can offer more stable time delay in telecontroller than using TCP and UDP.
A Study on the Implementation of the Fault-Injector for the Fault Tolerant Train Communication Network
You, Jae-Youn ; Park, Jae-Hyun ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 859~866
Recently, fault injection techniques are used for evaluation of the fault coverage properties of safety-critical systems. This paper describes the TCN Fault Injector(TFI) implemented for TCN safety analysis. The implemented TFI injects network level faults to Intelligent MVB Controller that is designed for the Korean High Speed Train. With TFI, it can be verified whether the MVB controller meets TCN specification and its safety requirements.
Optimal Design of Batch-Storage Network with Finite Intermediate Storage
Kim, Hyung-Min ; Kim, Kyoo-Nyun ; Lee, Gyeong-Beom ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 867~873
The purpose of this study is to find analytic solution of determining the optimal capacity (lot-size) of multiproduct acyclic multistage production and inventory system to meet the finished product demand under the constraint of finite intermediate storage. Intermediate storage is a practical way to mitigate the material flow imbalance through the line of supply and demand chain. However, the cost of constructing and operating storage facilities is becoming substantial because of increasing land value, environmental and safety concern. Therefore, reasonable decision-making about the capacity of processes and storage units is an important subject for industries. The industrial solution for this subject is to use the classical economic lot sizing method, EOQ/EPQ(Economic Order Quantity/Economic Production Quantity) model, incorporated with practical experience. But EOQ/EPQ model is not suitable for the chemical plant design with highly interlinked processes and storage units because it is developed based on single product and single stage. This study overcomes the limitation of the classical lot sizing method. The superstructure of the plant consists of the network of serially and/or parallelly interlinked non-continuous processes and storage units. The processes transform a set of feedstock materials into another set of products with constant conversion factors. A novel production and inventory analysis method, PSW(Periodic Square Wave) model, is applied to describe the detail material flows among equipments. The objective function of this study is minimizing the total cost composed of setup and inventory holding cost. The advantage of PSW model comes from the fact that the model provides a set of simple analytic solutions in spite of realistic description of the material flows between processes and storage units. the resulting simple analytic solution can greatly enhance the proper and quick investment decision for the preliminary plant design problem confronted with economic situation.
Estimation Properties of Kalman Filter for the System with Unobservable Bias
Song, Gi-Won ; Lee, Sang-Jeong ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 874~881
By showing the existence of the ARE solution and the convergence property of the DRE solution, this paper proves that a Kalman filter for the linear system with the unobservable bias is stable. It is also shown that the Kalman filter has a biased steady state estimation error whose covariance is affected mainly by the unobservable bias. Finally, the results are illustrated through a 2nd order system example including the inertial navigation system.
Network Design of Foundation Fieldbus using a Bandwidth Allocation Scheme
Hong, Seung-Ho ; Choe, In-Ho ; Mun, Bong-Chae ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 10, 2001, Pages 882~890
The data link layer of Foundation Fieldbus is operated on the basis of scheduling and token-passing disciplines. This paper presents a network design method of Foundation Fieldbus using a bandwidth allocation scheme. Fieldbus traffic consists of periodic data and sporadically generated time-critical and time-available data. The bandwidth allocation scheme schedules the transmission of periodic data. Time-critical and time-available data are transmitted via a token-passing service. The validity of this bandwidth allocation scheme is determined using an experimental model of a network system. The results obtained from the experimental model show that the proposed scheme restricts the delay of both periodic and time-critical data to a pre-specified bound. The proposed bandwidth allocation scheme also fully utilizes the bandwidth resource of the network system.