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<H3 class="tit_post"><A href="http://blog.secmem.org/130">[2기 전주 심경원] PID 피드백 제어
시스템</A></H3><SPAN class="txt_detail my_post"><SPAN
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<P style="text-align: center;"><SPAN style="font-family: Dotum,돋움; font-size: 18pt;">PID
피드백 제어 시스템</SPAN></P>
<P style="text-align: left;"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><FONT
size="2"><FONT color="#000000"><SPAN style="font-family: Dotum,돋움;"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 14pt;">1. PID 피드백 제어
시스템</SPAN></SPAN></FONT></FONT></SPAN></P>
<P style="text-align: justify; line-height: 1.8;"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'></SPAN><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><FONT
size="2"><FONT color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;"> 자동제어
방식 가운데서 많이 이용되는 시스템으로는</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
PID </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어 시스템이
있다</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">. </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
PID</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">란</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">, P: Proportinal(</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">비례</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">),
I:Integral(</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">적분</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">),
D:Differential(</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">미분</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">)
3</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">가지</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> Gain</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">의
조합으로 제어하는 것으로 유연한 자동제어가 가능해진다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">그러나</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> PID </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어가
많이 쓰이기도 하지만 사용하는데 몇 가지의 고려사항이 있다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">가장 중요한 점은 일반
서적에서</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;"> PID
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어기를 설명할 때 선형적인
공간에서 제어기를 설명한다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">그러나 실제 적용이 되는 시스템은
현실적으로 선형적이지 못하고 비선형공간에서 제어기를 설계 해야 된다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">특히 수치적인 방법으로
각</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;"> Gain</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">을 구하기</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">(</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">이러한 과정을</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
Tuning </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">이라
한다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">)</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">위해서는 정확하고 많은 환경적인 변수를 고려해야 하고
정확한</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
TEST</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">환경을 구축해야 가능해지기
때문에 많은 시간과 노력을 필요로 한다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">. </SPAN></FONT></FONT></SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></P>
<P style="text-align: left;"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><FONT
size="2"><FONT color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 14pt;">2.
피드백 제어란?</SPAN></FONT></FONT></SPAN></P>
<P style="text-align: center; clear: none; float: none;"><SPAN class="imageblock"
style="width: 298px; height: auto; display: inline-block; max-width: 100%;"><IMG
width="298" height="106" style="height: auto; cursor: pointer; max-width: 100%;"
xxxxxxonclick="open_img('http://cfile26.uf.tistory.com/original/1117C33E5053CCEE148B00')"
src="삼성소프트웨어멤버십%20PLAYGROUND%20%20[2기%20전주%20심경원]%20PID%20피드백%20제어%20시스템_files/제목_없음.png"
filemime="image/jpeg" filename="제목 없음.png"></SPAN></P>
<P style="text-align: left; margin-left: 2em;"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><FONT
size="2"><FONT color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;"><SPAN
style="font-size: 12pt;">2.1 소개 및 특징</SPAN><SPAN
style="font-size: 12pt;"> </SPAN></SPAN></FONT></FONT></SPAN><SPAN style="font-family: Dotum,돋움; font-size: 12pt;"> </SPAN></P>
<P style="text-align: justify; line-height: 1.5; margin-left: 2em;"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;"> <SPAN
style="font-family: Dotum,돋움;">정확하고 적응적인 제어를 위하여 개루프 제어시스템에서 필요한 것은 시스템의 출력에서
입력으로의 연계 혹은 피드백이다. 더 정확한 제어를 위하여 출력 y는 피드백이 되어 기준입력과 비교되고, 입력과 출력의 차에 비례하는 동작신호가
편차를 줄이도록 시스템을 통하여 보내진다. 이러한 피드백 경로를 하나 이상 갖고 있는 폐루프 시스템 또는 피드백 제어시스템 이라고
한다.</SPAN></SPAN></P>
<P style="text-align: left; margin-left: 2em;"><SPAN style="font-family: Dotum,돋움; font-size: 12pt;">2.2
주용요어 및 개념</SPAN></P>
<P style="text-align: center; margin-left: 2em;"><SPAN style="font-family: Dotum,돋움;"><SPAN
class="imageblock" style="width: 522px; height: auto; display: inline-block; max-width: 100%;"><IMG
width="522" height="310" style="height: auto; cursor: pointer; max-width: 100%;"
xxxxxxonclick="open_img('http://cfile3.uf.tistory.com/original/187FF0465053CE5505B2BD')"
src="삼성소프트웨어멤버십%20PLAYGROUND%20%20[2기%20전주%20심경원]%20PID%20피드백%20제어%20시스템_files/제목없음1.png"
filemime="image/jpeg" filename="제목없음1.png"></SPAN></SPAN></P>
<P style="text-align: left;"></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"><FONT
size="2"><FONT color="#000000"><SPAN style="letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%;">-
</SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">최대오버슈트</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
: y(t)</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">가 단위계단응답을
나타내고</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
y</SPAN><SUB><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">max</SPAN></SUB></SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">가</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
y(t)</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">의
최대값</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">,
y</SPAN><SUB><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">ss</SPAN></SUB></SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">가</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
y(t)</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">의
정상</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">상태
값이라면</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> y</SPAN><SUB><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">max</SPAN></SUB><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">≥</SPAN><SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> y</SPAN><SUB><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">ss</SPAN></SUB></SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">이고</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
y(t)</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">의 최대오버슈트는 다음과
같이 정의한다</SPAN><SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN><!--?xml:namespace prefix = o /--><o:p
style="margin-left: 2em;"></o:p></SPAN></SPAN></FONT></FONT></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: center; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"><STRONG><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><FONT
size="2"><FONT color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">Maximum
overshoot = y</SPAN><SUB><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">max - </SPAN></SUB><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">y</SPAN><SUB><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">ss</SPAN></SUB></FONT></FONT></SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></STRONG></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><FONT
size="2"><FONT color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">최대오버슈트는
계단응답의 최</SPAN></FONT></FONT></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><FONT
size="2"><FONT color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">종값
백분율로도 자주 표현한다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">최대오버슈트는
제어시스</SPAN></FONT></FONT></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><FONT
size="2"><FONT color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">템의
상대적인 </SPAN></FONT></FONT></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><FONT
size="2"><FONT color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">안정도를
측정하는 데 자주 이</SPAN></FONT></FONT></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><FONT
size="2"><FONT color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">용된다</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">. </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">오버슈트가
큰 시스템은 대체로 바람</SPAN></FONT></FONT></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><FONT
size="2"><FONT color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">직하지
못하다</SPAN><SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">. </SPAN></SPAN></FONT></FONT></SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'></SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"><FONT
size="2"><FONT color="#000000"><SPAN style="letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%;">-
</SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">지연시간</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
: </SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">지연시간</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">(delay
time)t</SPAN><SUB><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">d</SPAN></SUB></SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">는 단위계단응답에서 최종값의</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> 50%</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">에
도달하는 데 필</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">요한 시간으로
</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">정의한다</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></SPAN></FONT></FONT><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"> </P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"><FONT
size="2"><FONT color="#000000"><SPAN style="letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%;">-
</SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">상승시간</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
: </SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">상승시간</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">(rise
time) t</SPAN><SUB><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">r</SPAN></SUB></SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">은 계단응답이 최종값의</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
10%</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">에서</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> 90%</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">에
도달하는 데 필</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">요한
시간으</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">로 정의한다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">때로는 응답이
최종값의</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
50%</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">인 순간 계단응답
기울기</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">
역으로</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> 상 승시간을 나타내는
방</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">법도 있다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></FONT></FONT><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"> </P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"><FONT
size="2"><FONT color="#000000"><SPAN style="letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%;">-
</SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">정정시간</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
: </SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">정정시간</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">(settling
time) t</SPAN><SUB><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">s</SPAN></SUB></SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">는 계단응답이 감소하여 이후 응답이 응답
최종값 </SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">특정
백분율 </SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">이내에 들어가는 데 필요한 시간으로 정의
한다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">. </SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">보통 사용되는
양</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">은</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
5%</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">이다</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></SPAN></FONT></FONT><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"><FONT
size="2"><FONT color="#000000"><SPAN style="letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%;">-
</SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">정상상태오차</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
: </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">시스템 응답의
정상상태오차</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">(steady-state
error)</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">는 정상상태에
도달했을</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">때</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">(t
-> </SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">무한</SPAN></SPAN></FONT></FONT><FONT
size="2"><FONT color="#000000"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">대</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">)
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">기준입력과 출력 사이의 불일치
값으로 정의 된다</SPAN><SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></SPAN></FONT></FONT></P>
<P style="text-align: left;"><SPAN style="font-family: Dotum,돋움; font-size: 11pt;"><SPAN
style="font-size: 14pt;">3. PID</SPAN> </SPAN></P>
<P style="text-align: left; line-height: 1.5;"><FONT size="2"><FONT color="#000000"><SPAN
style="letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%;"> PID</SPAN><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">제어란</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">,
P: Proportinal(</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">비례</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">),
I:Integral(</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">적분</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">),
D:Differential(</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">미분</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">)
3</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">가지</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> Gain</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">의
조합으로 제어하는 </SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">것으로 유연한 자동제어가 가능해진다</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">. PID</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어의
최종목표는 입력에 대한 출력이 실제 출력과 이로부터 피드백 받은 신호를 이용하여 목표 출력과의 오차를 최소로 하고 빠른 시간에 정상상태에
도달하는 것에 목표를 두고 있다</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></SPAN></FONT></FONT></P>
<P style="text-align: left; margin-left: 2em;"><SPAN style="font-family: Dotum,돋움; font-size: 12pt;">3.1
P 제어</SPAN></P>
<P style="margin-left: 2em;"><SPAN style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN style="font-family: Dotum,돋움;"></SPAN></FONT></SPAN>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><FONT
color="#000000"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">비례 </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">Proportinal
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">, </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">에러
값의 비례해서 제어량을 변화시키는 방법이다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></FONT></P><FONT
color="#000000">
<P class="a" style="margin: 0cm 0cm 0pt; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"> </P>
<P class="a" style="margin: 0cm 0cm 0pt; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN><o:p
style="text-align: left;"><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></o:p></SPAN></SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN><o:p
style="text-align: justify; clear: none; margin-left: 8em; float: none;"><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN><o:p style="text-align: justify; clear: none; float: none;"><SPAN
class="imageblock" style="width: 420px; height: auto; display: inline-block; max-width: 100%;"><IMG
width="420" height="309" style="height: auto; max-width: 100%;" src="삼성소프트웨어멤버십%20PLAYGROUND%20%20[2기%20전주%20심경원]%20PID%20피드백%20제어%20시스템_files/7.png"
filemime="image/jpeg" filename="7.png"></SPAN></o:p></o:p></SPAN></SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN><o:p
style="text-align: center; clear: none; float: none;"></o:p></SPAN></SPAN> </P>
<P class="a" style="margin: 0cm 0cm 0pt; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN><o:p
style="text-align: left; clear: none; float: none;"></o:p></SPAN></SPAN> </P>
<P class="a" style="margin: 0cm 0cm 0pt; text-align: center; line-height: 102%; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN><o:p style="text-align: left; clear: none; float: none;"><SPAN
class="imageblock" style="width: 366px; height: auto; display: inline-block; max-width: 100%;"><IMG
width="366" height="309" style="height: auto; max-width: 100%;" src="삼성소프트웨어멤버십%20PLAYGROUND%20%20[2기%20전주%20심경원]%20PID%20피드백%20제어%20시스템_files/8.png"
filemime="image/jpeg" filename="8.png"></SPAN></o:p></SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN><o:p
style="text-align: center; clear: none; float: none;"></o:p></SPAN></SPAN></P>
<P>
<P class="a" style="margin: 0cm 0cm 0pt; line-height: 102%; text-indent: 8.5pt; mso-char-indent-count: 1.0;"> </P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; line-height: 1.5; text-indent: 8.5pt; mso-char-indent-count: 1.0;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">위 그림은</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
On/Off</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어와 비례제어의 특성
곡선이며</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
On/Off</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어도 비례
제어이다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">. </SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">비례 제</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">어의 특성 중 하나는 정상상태 오차가 없어지지 않는 것
이다</SPAN><SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt; mso-spacerun: yes;">
</SPAN></SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">비례제어에서</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
Gain(</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">에러
값</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">에 대한 제어량의 기준값</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">)</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">이 무척 큰 것이라고 생각하면 일정 크기의 에러가 계속
존재하</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">고</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
Gain</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">을 줄인다고 해도 그 에러는
계속 존재한다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">다만</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> Gain</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">이
일정 값 이하로 줄어들면</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">2</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">번째
그림처럼 약간의 편차가 계속 남은채로 목표 값을 따라가게 된다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">만약</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> Gain</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">값을
딱 </SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">맞추면 오차가 없어지지 않겠느냐고 생각한다면 오차가
없어지는 순간 제어할 수 있는 값</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">이 없어지므로 다시 오차가 발생하기 때문에 비례제어는 항상
정상상태 오차를 가지고 있</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">다</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></SPAN> </P></FONT>
<P></P>
<P style="text-align: left; clear: none; margin-left: 2em; float: none;"><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 12pt;">3.2
PI제어</SPAN></FONT></SPAN></P>
<P style="text-align: justify; line-height: 1; clear: none; margin-left: 2em; float: none;"><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style="letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%;"> PI</SPAN><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">제어는</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
P</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어서 생기는 정상상태 오차를
개선시킬 수 있는 제어로 에러 값을 적분한 </SPAN></SPAN></SPAN></FONT></SPAN></P>
<P style="text-align: justify; line-height: 1; clear: none; margin-left: 2em; float: none;"><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">값을
</SPAN></SPAN></SPAN></FONT></SPAN><SPAN style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">이용하여 제어하는 경우이다</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">. </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">비례
제어의 특성 그래프를 보면 일정 크기의 정상상</SPAN></SPAN></SPAN></FONT></SPAN></P>
<P style="text-align: justify; line-height: 1; clear: none; margin-left: 2em; float: none;"><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">태
오차</SPAN></SPAN></SPAN></FONT></SPAN><SPAN style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">가 계속 남아있게 된다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">이는</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> P</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어로는
처리 할 수 없는 작은 오차</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">(</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">잔류편차</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">)</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">이</SPAN></SPAN></SPAN></FONT></SPAN></P>
<P style="text-align: justify; line-height: 1; clear: none; margin-left: 2em; float: none;"><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">므로</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
P</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">제어</SPAN></SPAN></SPAN></FONT></SPAN><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">만으로는 없앨 수가 없다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%; mso-font-kerning: 1.0pt; mso-bidi-font-family: "Times New Roman"; mso-ansi-language: EN-US; mso-fareast-language: KO; mso-bidi-language: AR-SA;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">즉 이런 미소한 잔류편차를 시간단위로 적분하여
</SPAN></SPAN></SPAN></FONT></SPAN></P>
<P style="text-align: justify; line-height: 1; clear: none; margin-left: 2em; float: none;"><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%; mso-font-kerning: 1.0pt; mso-bidi-font-family: "Times New Roman"; mso-ansi-language: EN-US; mso-fareast-language: KO; mso-bidi-language: AR-SA;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">그 값이 어떤
크</SPAN></SPAN></SPAN></FONT></SPAN><SPAN style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%; mso-font-kerning: 1.0pt; mso-bidi-font-family: "Times New Roman"; mso-ansi-language: EN-US; mso-fareast-language: KO; mso-bidi-language: AR-SA;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">기가 되면 조작량을 증가시켜 편차를 없애는
방식이</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;"> PI</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">제어 이다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></SPAN></FONT></SPAN> </P>
<P style="text-align: center; clear: none; margin-left: 2em; float: none;"><SPAN
class="imageblock" style="width: 368px; height: auto; display: inline-block; max-width: 100%;"><IMG
width="368" height="357" style="height: auto; max-width: 100%;" src="삼성소프트웨어멤버십%20PLAYGROUND%20%20[2기%20전주%20심경원]%20PID%20피드백%20제어%20시스템_files/9.png"
filemime="image/jpeg" filename="9.png"></SPAN></P><SPAN style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%; mso-font-kerning: 1.0pt; mso-bidi-font-family: "Times New Roman"; mso-ansi-language: EN-US; mso-fareast-language: KO; mso-bidi-language: AR-SA;'><SPAN>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> 위 그림을 보면 파란선은</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> P</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어에
의한 조작량이고</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">,
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">녹색선이</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> I</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어에
의한 조작량이다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">그</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">림을 보면</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
I</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어는 일정 시간 동안 오차가
누적되어 일정 값을 넘어서면 시작하게 된다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN> </P>
<P class="a"
style="margin: 0cm 0cm 0pt; line-height: 102%;"> </P></SPAN></SPAN></SPAN></FONT></SPAN>
<P style="text-align: left; clear: none; margin-left: 2em; float: none;"><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 12pt;">3.3 PID
제어</SPAN></FONT></SPAN></P>
<P style="text-align: left; clear: none; margin-left: 2em; float: none;"><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%; mso-font-kerning: 1.0pt; mso-bidi-font-family: "Times New Roman"; mso-ansi-language: EN-US; mso-fareast-language: KO; mso-bidi-language: AR-SA;'>D</SPAN><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%; mso-font-kerning: 1.0pt; mso-bidi-font-family: "Times New Roman"; mso-ansi-language: EN-US; mso-fareast-language: KO; mso-bidi-language: AR-SA;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">제어는 오차값의 변화를 보고 조장량을 결정하는
방법이다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN></SPAN></SPAN></FONT></SPAN></P>
<P style="text-align: center; clear: none; margin-left: 2em; float: none;"><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'></SPAN> <SPAN
class="imageblock" style="width: 366px; height: auto; display: inline-block; max-width: 100%;"><IMG
width="366" height="321" style="height: auto; max-width: 100%;" src="삼성소프트웨어멤버십%20PLAYGROUND%20%20[2기%20전주%20심경원]%20PID%20피드백%20제어%20시스템_files/10.png"
filemime="image/jpeg" filename="10.png"></SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"><FONT
size="2"><FONT color="#000000"><SPAN style="letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%;">D</SPAN><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">제어만 따로 놓고 보기는 좀 힘들기
때문에</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;"> PID
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어를 통틀어서
본다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">. D</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">제어는
오차의</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">변화의 반대방향으로 제어가 이루어지게
된다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">. </SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">즉 오차의 값을 미분한</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">(</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">빨간선의 기울기</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">)</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">의</SPAN></SPAN></FONT></FONT><FONT
size="2"><FONT color="#000000"><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">반대방향으로 조작량을 변화시킨다</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">. </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">그렇기
때문에 빨간선과 파란선을 비교하면 서로 반</SPAN></SPAN></FONT></FONT><FONT size="2"><FONT color="#000000"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">대의 모양으로 급격하게 조작량이 변하는 것을 볼 수
있다</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;"><SPAN
style="font-size: 11pt;">.</SPAN> </SPAN></SPAN></SPAN></FONT></FONT> </P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: left; line-height: 102%; text-indent: 8.5pt; -ms-text-justify: inter-ideograph; mso-char-indent-count: 1.0;"> </P>
<P style="text-align: left; clear: none; margin-left: 2em; float: none;"><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%; mso-font-kerning: 1.0pt; mso-bidi-font-family: "Times New Roman"; mso-ansi-language: EN-US; mso-fareast-language: KO; mso-bidi-language: AR-SA;'><SPAN
style="font-family: Dotum,돋움; font-size: 12pt;">3.4 조쟉량의
결정</SPAN></SPAN></SPAN></FONT></SPAN></P><SPAN style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%; mso-font-kerning: 1.0pt; mso-bidi-font-family: "Times New Roman"; mso-ansi-language: EN-US; mso-fareast-language: KO; mso-bidi-language: AR-SA;'><SPAN>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">실제 제어기는 아날로그 값으로 제어하는 것처럼 되어 있지만
실제 우리가 사용하는</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
MCU</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">에</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">서 사용하기 위해서는 샘플링을 통하여 들어온 이산 값의
오차들을 이용하여 조작량을 결정</SPAN></SPAN><SPAN style="font-size: 11pt;"> </SPAN><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">하게 된다</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN><o:p
style="margin-left: 2em;"></o:p></SPAN></SPAN> </P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; -ms-text-justify: inter-ideograph;"><SPAN
style="font-size: 11pt;"> </SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: center; line-height: 1.5; -ms-text-justify: inter-ideograph;"><SPAN
style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 9pt; mso-font-width: 90%;'><STRONG><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">조작량 </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">=
Kp*</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">편차 </SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">+ Ki*</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">편차의누적값
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">+ Kd*</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">편차의변화량</SPAN><SPAN><o:p style="margin-left: 4em;"></o:p></SPAN></STRONG></SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; -ms-text-justify: inter-ideograph;"><SPAN
style="font-size: 11pt;"> </SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">여기서</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
Kp, Ki, Kd</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">가 제어기의
특성을 결정하게 된다</SPAN><SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"> </P></SPAN></SPAN></SPAN></FONT>
<P style="text-align: left; clear: none; margin-left: 2em; float: none;"><FONT
color="#000000"><SPAN style="font-family: Dotum,돋움; font-size: 12pt;">3.5 PID와의
제어기의 특성</SPAN></FONT></P><SPAN style='line-height: 102%; letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%;'><FONT
color="#000000"><SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; font-size: 10pt; mso-font-width: 90%; mso-font-kerning: 1.0pt; mso-bidi-font-family: "Times New Roman"; mso-ansi-language: EN-US; mso-fareast-language: KO; mso-bidi-language: AR-SA;'><SPAN>
<P class="a" style="margin: 0cm 0cm 0pt 8em; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><STRONG><SPAN
style="letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%;">P
</SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">제어</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
: </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">목표 값 도달 시간을
줄인다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.(</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">빠른응답</SPAN><SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">)</SPAN></SPAN></SPAN></STRONG></P>
<P class="a" style="margin: 0cm 0cm 0pt 6em; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><STRONG><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></STRONG></P>
<P class="a" style="margin: 0cm 0cm 0pt 8em; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><STRONG><SPAN
style="letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%;">I
</SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">제어 </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">:
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">정상상태 오차를
줄인다</SPAN><SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></SPAN></STRONG></P>
<P class="a" style="margin: 0cm 0cm 0pt 6em; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><STRONG><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></STRONG></P>
<P class="a" style="margin: 0cm 0cm 0pt 8em; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><STRONG><SPAN
style="letter-spacing: -0.25pt; font-family: Dotum,돋움; font-size: 11pt; mso-font-width: 90%;">D
</SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">제어</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
: </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">오버슈트</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">(</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">현재치의
급변이나 외란</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">)</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">을
억제한다</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></STRONG></P>
<P class="a" style="margin: 0cm 0cm 0pt 6em; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN><STRONG></STRONG></SPAN></SPAN> </P>
<P class="a" style="margin: 0cm 0cm 0pt 4em; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><SPAN
style="font-size: 11pt;"> </SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt 2em; text-align: justify; line-height: 1.5; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">간단히</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
P, I, D </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">각자는 제어기의
특성에 대해서 위와 같은 효과를 발휘한다고 볼 수 있다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">그</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">러나 이는 단</SPAN></SPAN><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">순한 문제는 아니며</SPAN><SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt; mso-spacerun: yes;">
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">P, I,
D</SPAN></SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">의 조작량은 서로
영향을 미친다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN></SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><SPAN
style="font-family: Dotum,돋움;"> </SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 12pt;">4. 결론</SPAN></SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt; text-align: justify; line-height: 102%; -ms-text-justify: inter-ideograph;"> </P>
<P class="a" style="margin: 0cm 0cm 0pt; text-align: justify; line-height: 1.5; -ms-text-justify: inter-ideograph;"><SPAN
style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> <SPAN style="font-size: 11pt;">지금까지
피드백 제어 중 하나인</SPAN></SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">
PID</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어기를 이용하여 모터
정밀제어 하는 방법을 알아</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">보았다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">앞에서도 제시하였지만 우리가
시스템을 구현하는 공간은 비선형적인 공간인 점</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">을 감안하고 꼭 이론적인 방법이 옳다고는 할 수 없다는
것을 항상 엄두해 두어야 한다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">물</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">론 이론이 뒷받침 되었을 때 실험적</SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">, </SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">경험적인
방법이 조금 더 시간을 단축시키고 목표점에 </SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">도달하는 시간이 단축되는 것은
당연하다</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">.
PID</SPAN><SPAN style="font-family: Dotum,돋움; font-size: 11pt;">제어 이외에도 많은
제어시스템이 있지만 좀</SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">더 이론적으로 이해하기 쉽고 다른 제어시스템에 비해
튜닝과정이 쉽기 때문에 자동제어 </SPAN></SPAN><SPAN style='letter-spacing: -0.25pt; font-family: "맑은 고딕"; mso-font-width: 90%;'><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">시스템으로 추천하는 바이다</SPAN><SPAN><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;">.</SPAN></SPAN></SPAN></P>
<P class="a" style="margin: 0cm 0cm 0pt; text-align: justify; line-height: 1.5; -ms-text-justify: inter-ideograph;"><SPAN
style="font-family: Dotum,돋움; font-size: 11pt;"> </SPAN></P></SPAN></SPAN></SPAN></FONT></SPAN>
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<LI><A class="link_tag cloud4" href="http://blog.secmem.org/tag/%EC%9D%B8%EA%B3%B5%EC%A7%80%EB%8A%A5">인공지능</A></LI>
<LI><A class="link_tag cloud4" href="http://blog.secmem.org/tag/%EA%B5%AC%EA%B8%80%20%EC%95%B1%20%EC%97%94%EC%A7%84">구글
앱 엔진</A></LI>
<LI><A class="link_tag cloud4" href="http://blog.secmem.org/tag/Google%20App%20Engine">Google
App Engine</A></LI>
<LI><A class="link_tag cloud1" href="http://blog.secmem.org/tag/%EC%82%BC%EC%84%B1%EC%86%8C%ED%94%84%ED%8A%B8%EC%9B%A8%EC%96%B4%EB%A9%A4%EB%B2%84%EC%8B%AD">삼성소프트웨어멤버십</A></LI>
<LI><A class="link_tag cloud3" href="http://blog.secmem.org/tag/hopfield%20network">hopfield
network</A></LI>
<LI><A class="link_tag cloud4" href="http://blog.secmem.org/tag/%EB%A9%A4%EB%B2%84%EC%8B%AD">멤버십</A></LI>
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Miner</A></LI>
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<LI><A class="link_tag cloud4" href="http://blog.secmem.org/tag/%EC%82%BC%EC%84%B1">삼성</A></LI>
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href="http://blog.secmem.org/tag/Friendship">Friendship</A></LI>
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