시소 시스템을 위한 RCGA 기반의 상태피드백 제어
RCGA-Based State Feedback Control for Seesaw Systems
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초록
Generally, most of the physical systems affected by disturbance or incomplete knowledge are complex and highly nonlinear. To control under these circumstances, many researches are ongoing in modern control theory recently. But the researches need apparatuses, which can verify the controller for being not damaged the real plant. In this paper, therefore, a seesaw system is considered control system to analyze and apply the control theory. A seesaw system consists of a moving cart on the rail and seesaw frame made to demonstrate the effectiveness of the control theory. The system has balancing and positioning problems, and the driving force is applied on the DC motor of cart, but not on the pivot. The purpose of control is to maintain an equilibrium of seesaw frame in spite of an allowable disturbance. Computer simulations are given to illustrate the control performance of the proposed scheme.
Abstract
Generally, most of the physical systems affected by disturbance or incomplete knowledge are complex and highly nonlinear. To control under these circumstances, many researches are ongoing in modern control theory recently. But the researches need apparatuses, which can verify the controller for being not damaged the real plant. In this paper, therefore, a seesaw system is considered control system to analyze and apply the control theory. A seesaw system consists of a moving cart on the rail and seesaw frame made to demonstrate the effectiveness of the control theory. The system has balancing and positioning problems, and the driving force is applied on the DC motor of cart, but not on the pivot. The purpose of control is to maintain an equilibrium of seesaw frame in spite of an allowable disturbance. Computer simulations are given to illustrate the control performance of the proposed scheme.
참고문헌 (8)
- 진강규, "실수코딩 유전알고리즘에 관한 연구", 제어·자동화·시스템공학 논문지, 6(4), pp.268~275 (2000)
- 진강규, "유전알고리즘과 그 응용" (2002), 교우사
- D. E. Goldberg, "Genetic Algorithms in Search, Optimization and Machine Learning" (1989), Addison-Wesley
- M. Gen, "Genetic Algorithms and Enginggring Design" (1997), A Wiley- Interscience Publication
- J. H. Holland, "Adaptation in Natural and Artificial Systems" (1975), University of Michigan Press
- 류기탁, "축소차수 관측기를 이용한 시소시스템의 PI형 상태피드백 제어", 한국항해항만학회지, 31(10), pp.749~754 (2007), 한국항해항만학회
- 안종갑, "RCGA를 이용한 도립진자 시스템의 파라미터 추정 및안정화 제어", 한국마린엔지니어링학회지, 30(6), pp.746~752 (2006), 한국마린엔지니어링학회
- 이윤형, "상태관측기를 이용한 도립진자 시스템의 제어", 한국마린엔지니어링학회지, 31(4), pp.462~467 (2007), 한국마린엔지니어링학회