• Title, Summary, Keyword: Position Control

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Robust Indirect Adaptive Fuzzy Controller for Balancing and Position Control of Inverted Pendulum System

  • Kim Yong-Tae;Kim Dong-Yon;Yoo Jae-Ha
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.6 no.2
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    • pp.155-160
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    • 2006
  • In the paper a robust indirect adaptive fuzzy controller is proposed for balancing and position control of the inverted pendulum system. Because balancing control rules of the pendulum and position control rules of the cart can be opposite, it is difficult to design an adaptive fuzzy controller that satisfy both objectives. To stabilize the pendulum at a specified position, the proposed fuzzy controller consists of a robust indirect adaptive fuzzy controller for balancing and a supervisory fuzzy controller which emulates heuristic control strategy and arbitrate two control objectives. It is proved that the signals in the overall system are bounded. Simulation results are given to verify the proposed adaptive fuzzy control method.

Adaptive Sliding Mode Observer for the Control of Switched Reluctance Motors without Speed and Position Sensors (적응 슬라이딩 모드 관측기를 이용한 SRM의 속도 및 위치 센서 없는 제어)

  • Shin, Jae-Hwa;Yang Iee-Yoo;Kim, Young-Seok
    • The Transactions of the Korean Institute of Electrical Engineers B
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    • v.49 no.11
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    • pp.763-770
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    • 2000
  • The speed and position information of the rotor are required in the speed control of SRM(Switched Reluctance Motors). This information is generally provided by shaft encoder or resolver. It is weak in the dusty, high temperature, and EMI environment. Consequntly, much attention has been given to SRM control for eliminationating the position and speed sensors. In this paper, a new estimation algorithm for the rotor position and speed for SRM drives is described. The algorithm is implemented by the sliding mode observer. The stability and robustness of the sliding observer for the parameter variations of the SRM are proved by variable structure control theory. Speed control of the SRM is accomplished by the estimated speed and position. Experiment results verify that the mode observer is able to estimate the speed and position well.

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Implementation of the High Performance Unified PID Position Controller for Linear Motor Drive with Easy Gain Ajustment Part I - Feature of the Unified PID Position Controller (이득 설계가 간단한 선형전동기 구동용 고성능 통합 PID 위치제어기 구현 제1부: 통합 PID 위치제어기 특성)

  • Kim, Jun-Seok
    • The Transactions of the Korean Institute of Electrical Engineers B
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    • v.51 no.4
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    • pp.187-194
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    • 2002
  • Recently, the application of the linear machine far industrial field is remarkable increased, especially for the gantry machine, machine tool system and CNC. In these application fields, high dynamics position control performance Is essentially required in both the steady and the transient state. This pacer presents simple but powerful position control loop based on traditional PID controller. The presented position control algorithm, named 'Unified PID Position Controller'has great features for the linear machine drives such as no over-shoot phenomena and simple gain tuning strategy. Through the experimental results with commercial linear motors, it is shown that the proposed algorithm has excellent dynamics suitable fur linear motions.

Accurate Position and Instantaneous Speed Observer for Motor Drive System using Novel Speed Estimator (속도 추정기를 이용한 전동기 구동 시스템의 정밀한 위치 및 순시 속도 관측기의 개발)

  • Kim, Hui-Uk;Kim, Yong-Seok;Seol, Seung-Gi
    • The Transactions of the Korean Institute of Electrical Engineers B
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    • v.48 no.11
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    • pp.625-631
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    • 1999
  • In this paper, an accurate position control using new estimator which estimates the instantaneous speed and accurate position with a low precision shaft encoder is proposed. The overall performance of position control system is strongly depend on the accuracy of the position information and the performance of the speed controller in low speed range. In this paper the position and speed of the motor are obtained from Kalman filter which is an optimal full order estimator. This estimator has good performance even in very low speed range include standstill. The simulation and experimental results confirm the validity of the proposed estimation and control scheme.

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The Effects of Semi-Fowler's Position on Post-Operative Recovery in Recovery Room for Patients with Laparoscopic Abdominal Surgery (복강경 수술 후의 반좌위가 수술직후 회복정도에 미치는 영향)

  • Kim, Kyung Ah;Kim, Yeong Kyeong
    • Korean Journal of Adult Nursing
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    • v.16 no.4
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    • pp.566-574
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    • 2004
  • Purpose: To find the effects of semi-Fowler's position on the post-operative recovery for patients with laparoscopic abdominal surgery in recovery room. Method: The research was performed by nonequivalent control group non-synchronized quasi-experimental design. The subjects are forty patients who had laparoscopic abdominal surgery in a hospital from Aug. thru Nov. of 2003. Post-recovery scores and $O_2$saturation degree were measured. The experimental group was place in semi fowler's position while the control group was placed in supine position. The homogeneity between the control group and experimental group was analyzed using the Chi-square, and the hypothesis were tested using t-test. Result: 1. The patients in the experimental group placed in semi fowler's position showed significant higher post-recovery scores than those in the control group who were in a supine position. 2. The patients in the experimental group who were in semi Fowler's position showed no significant higher $O_2$ saturation degree than those in the control group who were in supine position. Conclusion: Based on the results described above, it is considered that the semi-Fowler's position might be effective in enhancing the post-operative recovery score of the patients with laparoscopic abdominal surgery in recovery room.

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High Precision Solenoid Type Nuclear Reactor Control Rod Position Indicator (고정밀도 솔레노이드 방식의 원자로 제어봉 위치지시기)

  • Baek, Min-Ho;Hong, Hoon-Bin;Park, Hee-June
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.65 no.11
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    • pp.1848-1853
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    • 2016
  • Control Rod Position Indicator in nuclear reactor vessel has developed for small reactor in Korea. Because of severe environment in reactor vessel, target of this study is to develop the suitable position indicator. In this study, solenoid type position indicator made of Mineral Insulated Cable(MI Cable) was introduced to adapt in severe environment. And inductance of the solenoid was used to indicate the rod position for high precision. But problem of this concept is that a linear slope of inductance is changed by temperature effect. To resolve this problem, two sensing coils were introduced for temperature compensation. A role of the sensing coil is to make reference linear equation about certain temperature. To confirm this concept, also, inductance of solenoid and sensing coils were measured at room and high temperature (${\sim}300^{\circ}C$). The results of measurement show that the position error of sensing coil between room and high temperature was about 2%. But it was identified that this error was resulted from insufficient test environment (temperature error between solenoid and sensing coils was about 2% at high temperature condition). Therefore, solenoid type position indicator shows that it is very suitable in reactor vessel as a high precision rod position indicator.

Position Control of Chained Multiple Mass-Spring-Damper Systems - Adaptive Output Feedback Control Approaches

  • S. S. Ge;L. Huang;Lee, T. H.
    • International Journal of Control, Automation, and Systems
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    • v.2 no.2
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    • pp.144-155
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    • 2004
  • This paper addresses the issue of position control of a chain of multiple mass-spring-damper (CMMSD) units which can be found in many physical systems. The dynamic model of a CMMSD system with any degrees of freedom is expressed in a closed-form for the convenience of the controller design. Backstepping and model reference adaptive control (MRAC) approaches are then used to develop two adaptive output feedback controllers to control the position of a CMMSD system. The proposed controllers rely on the measurements of the input (force) and the output (position of the mass unit at the end of the chain) of the system without the knowledge of its parameters and internal states. Simulations are used to verify the effectiveness of the controllers

An Excitation Position Dectecting Method Using Phase Current for Sensorless Control of SRM (SRM의 상전류를 이용한 센서리스 방식의 여자시기 검출기법)

  • Kim, Tae-Hyoung;Lee, Dong-Hee;Ahn, Jin-Woo
    • Proceedings of the KIEE Conference
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    • pp.56-59
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    • 2005
  • This paper describes a novel method of detecting excitation position in Switched Reluctance Motor(SRM) drive. Some strategics for position sensorless control methods of the SRM include the measurement of phase current. The principle of the rotor position estimation is based on the defection of phase current according to rotor position. This sensorless method is very simple to detect excitation position estimation and gives efficient control of drive system. The suggested method is verified by some simulations and experimental tests

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Development of Electric Actuator Position Control System for Automatic Shuttle Shifting of Tractor (트랙터의 전후진 자동 변속을 위한 전자식 액추에이터의 위치 제어 시스템 개발)

  • Choi, Chang-Hyun;Woo, Mi-Na;Lee, Dae-Hyun;Kim, Yong-Joo;Jeong, Jin-Hee
    • Journal of Biosystems Engineering
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    • v.35 no.4
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    • pp.224-230
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    • 2010
  • The purpose of this study was to develop position control system of an electric actuator for automatic shuttle shifting of a tractor. The electric actuator was installed at the link of the forward-reverse gearshift of the tractor transmission, and controlled in the ranges of forward, neutral, and reverse positions. The position control system of the electric actuator was developed based on PID (Proportional Integral Derivative) controller and transfer function of the electric actuator. The coefficients of the PID controller were determined by Ziegler-Nichols (Z-N) method and optimized using simulation program. The prototype AMT (Automated Manual Transmission) test unit of the tractor was installed and used to evaluate the performance of the position control. The evaluation system for the control performance consisted of forward-reverse actuator, motor driver, and controller. The tests were conducted as the controlled positions of the actuator were changed from neutral position to forward, neutral, and reverse positions in sequence. The sequential tests were repeated 20 times. The operations of changing the gearshift were considered as the step response of the control system. Maximum overshoot, settling time, and steady-state error were analyzed. The results showed that performance of the position control system was reasonable and qualified. The maximum overshoots, the steady-state errors, and the settling times of the position control system were 10~20%, 1~5%, and 0.92~1.49 sec, respectively. The modifications of the electric actuator will be required to enhance the performance of position control during field operation.

Visral Control of Robotic Manipulators Based on Neural Network (시각정보에 의한 로보트 매니퓰레이터의 위치.자세 제어 - 신경회로망의 이용)

  • 심귀보
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1042-1046
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    • 1993
  • This paper describes a control scheme for a robot manipulator system which uses visual information to position and orientate the end-effector. In this scheme, the position and orientation of the target workpiece with respect to the base frame of the robot are assumed to be unknown, but the desired relative position and orientation of the end-effector to the target workpiece are given in advance. The control scheme directly integrates visual data into the servoing process without subdividing the process into determination of the position and orientation of the workpiece and inverse kinematics calculation. A neural network system is used for determining the change in joint angles required in order to achieve the desired position and orientation. The proposed system can be control the robot so that it approach the desired position and orientation from arbitrary initial ones. Simulation for the robot manipulator with six degrees of freedom will be done. The validity and the effectiveness of the proposed control scheme will be verified by computer simulations.

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