Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Design of Model-Following Time Delay Controller with Modified Error Feedback Controller

오차피드백 제어입력이 개선된 모델추종 시간지연제어기 설계

  • Published : 2000.12.01
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Abstract

TDC(Time Delay Control) deals with the time-varying system parameters, unknown dynamics and unexpected disturbances using time delay. TDC can be divided into two separate parts: an auxiliary controller and a servo controller. The two controllers can be designed independently. The auxiliary controller is used to reduce sensitivity to parameter variations, nonlinear effects, and other disturbances. The servo controller is to reduce the error between the desired command and output. We propose the model-following time delay controller with modified error feedback controller. This was applied to follow the desired reference model for the uncertain time-varying overhead crane. The model generates the damped-out swinging motion trajectory to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. The control performance was evaluated through simulations. The theoretical results indicate that this control method shows excellent performance to an overhead crane with the uncertain time-varying parameters.

Keywords

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