Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2020-11-17T05:57:27Z | - |
dc.date.available | 2020-11-17T05:57:27Z | - |
dc.date.issued | 2019-11 | - |
dc.identifier.citation | 한국정밀공학회지, v. 36, no. 11, page. 1025-1031 | en_US |
dc.identifier.issn | 1225-9071 | - |
dc.identifier.issn | 2287-8769 | - |
dc.identifier.uri | http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE09228910&language=ko | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/155643 | - |
dc.description.abstract | This paper presents gain optimization for a controller of a 6- DOF underwater robot with tilting thrusters. PID control system with anti-windup technique is designed to stabilize the hovering motion of the robot. The controller comprises thrust vector decomposition to overcome nonlinearity of the thrust vector and also includes an algorithm to compensate for saturation of thrusters. A total of 24 control gains should be tuned in this controller, and gain optimization is performed according to four system errors using genetic algorithm. First, 18 PID control gains were optimized and then 6 gains were optimized to affect anti-windup. As a result, control gains optimized by the integral absolute error showed the best performance, and it is verified that tracking error in position and orientation of the robot were reduced by 29.38% compared with initial gains. | en_US |
dc.description.sponsorship | 본 연구는 2017학년도 부산대학교 교내학술연구비 (신임교수 연구정착금)에 의한 연구임. | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 한국정밀공학회 | en_US |
dc.subject | 게인 최적화 | en_US |
dc.subject | PID 기반 안티 와인드업 제어기 | en_US |
dc.subject | 틸팅 메커니즘 | en_US |
dc.subject | 수중로봇 | en_US |
dc.subject | 추력 벡터 분해기법 | en_US |
dc.subject | Gain optimization | en_US |
dc.subject | PID-Anti windup controller | en_US |
dc.subject | Tilting mechanism | en_US |
dc.subject | Underwater robot | en_US |
dc.subject | Vector decomposition | en_US |
dc.title | 틸팅하는 추진기를 지닌 수중로봇의 추력벡터 분해와 구동범위 제한 알고리즘으로 구성된 제어기의 제어 이득 최적화 | en_US |
dc.title.alternative | Gain Optimization of a Controller with Decomposition of Thrust Force and Actuation Limit Algorithm for a Tilted Thrusting Underwater Robot | en_US |
dc.type | Article | en_US |
dc.relation.no | 11 | - |
dc.relation.volume | 36 | - |
dc.identifier.doi | 10.7736/KSPE.2019.36.11.1025 | - |
dc.relation.page | 1025-1031 | - |
dc.relation.journal | 한국정밀공학회지 | - |
dc.contributor.googleauthor | 박정애 | - |
dc.contributor.googleauthor | 김종원 | - |
dc.contributor.googleauthor | 서태원 | - |
dc.contributor.googleauthor | 진상록 | - |
dc.contributor.googleauthor | Bak, Jeongae | - |
dc.contributor.googleauthor | Kim, Jongwon | - |
dc.contributor.googleauthor | Seo, TaeWon | - |
dc.contributor.googleauthor | Jin, Sangrok | - |
dc.relation.code | 2019035059 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | taewonseo | - |
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