System control device and method

System Control Device and Method

This technology is an algorithm that calculates sliding variables based on a system's position error and rate of change over time, applying them to a nonlinear adaptive load model to adjust PID controller gains in real time.

Conventional PID controllers use fixed gain constants, which can lead to degraded control performance or difficulty in maintaining robustness when system loads change, often requiring repetitive trial and error by the user to determine optimal gains.

This technology uses sliding variables as inputs for a nonlinear adaptive load model to adaptively calculate PID gains. It includes control logic that reduces gains to a lower limit to maintain stability when sliding variables increase due to load changes, and resets gains upon detecting load variations via sensors. Applicable to industrial robots and automation systems, this method improves the robustness of the system controller against significant load fluctuations by adaptively modifying the PID gains.

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Key Features:

• A gain determination unit that applies sliding variables, which vary according to system load changes, to a preset adaptive load model, and adaptively adjusts gains using the adaptive load model to which the sliding variables are applied.
• A system control device wherein the gain determination unit reduces the gain until a preset lower limit is reached when the sliding variable increases.
• A gain determination unit that adaptively adjusts gains using an adaptive load model to which sliding variables are applied.
• A PID controller configured to control system behavior and having adjustable gains.

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This invention was developed with support from the Ministry of Science and ICT for brain mapping-based robot rehabilitation.