• Title, Summary, Keyword: Adaptive PID controller

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A Study on Trajectory Tracking Control of Field Robot

  • Seo, Woo-Seog;Kim, Sung-Su;Yang, Soon-Yong;Lee, Byung-Ryong;Ahn, Kyung-Kwan
    • 제어로봇시스템학회:학술대회논문집
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    • pp.132.4-132
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    • 2001
  • Field robot represented by excavator can be applied for various kinds of working in manufacturing, construction, agriculture etc. because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. In general, the dynamics of field robot have strong coupling, various kinds of non-linearity, and time varying parameters according to working conditions. Therefore, it is very difficult to describe the system well, and design controller systematically based on its model. This paper established the mathematical model of field robot driven by electro-hydraulic servomechanism and constructed the adaptive control system robust to external load variations. The proposed control system for the field robot was evaluated by the computer simulation, and the performance results of trajectory tracking were compared with that of PID control system.

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A Study on the Fuzzy Controller for an Unmanned Surface Vessel Designed for Sea Probes

  • Park, Soo-Hong;Kim, Jong-Kwon;Lee, Won-Boo;Jang, Cheol-Soon
    • 제어로봇시스템학회:학술대회논문집
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    • pp.586-589
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    • 2005
  • Recently, the applications of unmanned system are steadily increasing. Unmanned automatic system is suitable for routine mission such as reconnaissance, environment monitoring, resource conservation and investigation. Especially, for the ocean environmental probe mission, many ocean engineers had scoped with the routine and even risky works. The unmanned surface vessel designed for sea probes can replace the periodic and routine missions such as water sampling, temperature and salinity measuring, etc. In this paper, an unmanned surface vessel was designed for ocean environmental probe missions. A classical and an adaptive fuzzy control system were designed and tested for the unmanned surface vessel. The design methodologies and performance of the surface vessel and fuzzy control algorithm were illustrated and verified with this unmanned vessel system designed for sea probes.

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The Tip-Tilt Correction System in AO System for Gwacheon 1m Telescope

  • Yu, Hyungjun;Park, Yong-Sun;Gye, Changwoo
    • The Bulletin of The Korean Astronomical Society
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    • v.38 no.1
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    • pp.69.1-69.1
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    • 2013
  • We are developing Adaptive Optics (AO) system for 1m telescope at Gwacheon National Science Museum Observatory. The beam spot of the Gwacheon 1m telescope. The tip-tilt correction system consists of a CMOS sensor, a tip-tilt mirror and a feed back loop. The beam spot location at the CMOS sensor indicates the tip-tilt components of the incoming light. The tip-tilt mirror is controlled by DAC output voltage calculated by proportional-integral-derivative (PID) controller. This system successfully corrects the tip-tilt motion of the spot.

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Digital Controller Design of a Magnetic Bearing System for High Speed Milling Spindle (고속 밀링 주축용 자기베어링 시스템의 디지털 제어기 설계)

  • 노승국;경진호;박종권
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • pp.398-403
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    • 2004
  • The demand of high speed machining is increasing because the high speed cutting providers high efficiency of process, short process time, improved metal removal capacity and better surface finish. Active magnetic bearings allow much high surface speed than conventional ball bearings and therefore greatly suitable for high speed cutting. The automatic control concept of magnetic bearing system provides ability of intelligent control of spindle system to increase accuracy and flexibility by means of adaptive vibration control. This paper describes a design and development of a milling spindle system which includes built-in motor with power 5.5㎾ and maximum speed 70,000rpm, HSK-32C tool holer and active magnetic bearing system. Magnetic actuators are designed for satisfying static load condition. The Performances of manufactured spindle system was examined for its static and dynamic stiffness, load capacity, and rotational accuracy. This spindle was run up to 70,000 rpm stably, which is 3.5 million DmN.

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