대한전기학회논문지:전기기기및에너지변환시스템부문B (The Transactions of the Korean Institute of Electrical Engineers B)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

시간지연 이득계획제어와 자기부상시스템에의 응용

A Time Delay-Based Gain Scheduled Control and It's Application to Electromagnetic Suspension System

  • 성호경 (기계연구원 자기부상열차사업단) ;
  • 조정민 (기계연구원 자기부상열차사업단) ;
  • 조흥제 (기계연구원 자기부상열차사업단)
  • 발행 : 2005.12.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper proposes a gain scheduled control technique using time-delay for the nonlinear system with plant uncertainties and unexpected disturbances. The time delay-based gain scheduled control depends on a direct estimation of a function representing the effect of uncertainties. The information from the estimation is used to cancel the unknown dynamics and the unexpected disturbances simultaneously. The proposed estimation scheme with a finite convergence time is formulated in order to estimate the unknown scheduling variable variation. In other words, the time delay-based gain scheduled control uses the past observation of the system's response and the control input to directly modify the control actions rather than to adjust the controller gains or to identify system parameters. It has a simple structure so as to minimize the computational burden. The benefits of this proposed scheme are demonstrated in the simulation of an electromagnetic suspension system with plant uncertainties and external disturbances, and the proposed controller is compared with the conventional state feedback controller.

키워드

참고문헌

  1. J. Huang and W. J. Rugh, 'On a nonlinear multivariable servomechanism problem', Automatica, vol. 26. no. 6, pp. 963-972, 1990 https://doi.org/10.1016/0005-1098(90)90081-R
  2. J. Huang and W. J. Rugh, 'Stabilization on zero-error manifolds and the nonlinear servomechanism problem', IEEE Trans. Automat. Contr., vol. 37. No.7, pp. 1009-1013, 1992 https://doi.org/10.1109/9.148359
  3. W. J. Rugh, 'Analytical framework for gain scheduling', IEEE Contr. Sys. Mag., vol. 11. no. 1, pp. 79-84, 1995 https://doi.org/10.1109/37.103361
  4. I. Kaminer, A.M. Pascoal, P. P. Khargonekar, and E. E. Coleman, 'A velocity algorithm for the implementation of gain-scheduled controllers', IEEE Trans. Automat. Contr., vol. 37. no. 7, pp. 1009-1013, 1992 https://doi.org/10.1109/9.148359
  5. N. Sureshbabu and W. J. Rugh, ' Output regulation with derivative information', IEEE Trans. Automat. Contr., vol. 40, no. 10, pp. 1755-1766, 1995 https://doi.org/10.1109/9.467676
  6. S.-H. Lee and J.-T. Lim, 'Fast gain scheduling on tracking problems using derivative information', Automatica, vol. 33, pp. 2265-2268, 1997 https://doi.org/10.1016/S0005-1098
  7. Y. H. Chen, 'A new matching condition for robust control design', Proc. American Control Conf. San Francisco, California, pp. 122-126, 1993
  8. M. P. Glazos and S. H. Zak, 'Practical stabilization of non-linear/uncertain dynamic systems with bounded controllers', Int. J. Control, vol. 62, no. 1, pp. 153-171, 1995 https://doi.org/10.1080/00207179508921537
  9. S.-H. Lee and J.-T. Lim, 'Locally robustable gain scheduling in nonlinear systems with uncertain time varying inputs', Int. J. of Systems Science, vol. 28, no. 6, pp. 587-593, 1997 https://doi.org/10.1080/00207729708929420
  10. J. Huang and W. J. Rugh, 'An approximation method for the nonlinear servomechanism problem', IEEE Trans. Automat. Contr., vol. 37, no. 9, pp. 1395-1398, 1992 https://doi.org/10.1109/9.159580
  11. J. Huang, 'Asymptotic tracking and disturbance rejection in uncertain nonlinear systems', IEEE Trans. Automat. Contr., vol. 40, no. 6, pp. 1118-1112. 1995 https://doi.org/10.1109/9.388697
  12. R. A. Nichols, R. T. Reichert, and W. J. Rugh, 'Gain scheduling for H-infinity controllers: A flight control example', IEEE Trans. Control Systems Technology, vol. 1, 2, pp. 69-79, 1993 https://doi.org/10.1109/87.238400
  13. A. Helmersson, 'Application of $real-{\mu}$ gain scheduling', Proc. Of the 35th Conf. Dec. and Contr., Kobe, Japan, pp. 1666-1671, 199
  14. P. Apkarian and P. Gahinet, 'A convex characterization of gain-scheduled $H_{\infty}$ controllers', IEEE Trans. Automat. Contr., vol. 40, no. 5, pp. 853-864, 1995 https://doi.org/10.1109/9.384219
  15. W. W. Lu and G. J. Balas, 'Robust, gain-scheduled control design of a lightly damped plant', Proc. Of the 34th Conf, Dec. and Contr., New Orleans, LA, pp. 2694-2695, 1995 https://doi.org/10.1109/CDC.1995.478520
  16. I.H. SUH and Z. BIEN, 'Proportional Minus Delay Controller', IEEE Trans. Automat. Contr., vol.24, no.2, pp.370-372, 1979 https://doi.org/10.1109/TAC.1979.1102024
  17. K. Youcef-Toumi. And O. Ito, 'A Time Delay Controller for Systems with Unknown Dynamics', ASME Jounal Of Dynamic Systems, Measurement, and Control., vol. 112, pp. 133-142, 1990 https://doi.org/10.1115/1.2894130
  18. P. H. Chang, D. S. Kim and K. C. Park, 'ROBUST FORCE/POSTION CONTROL OF A ROBOT MANIPULATOR USING TIME-DELAY CONTROL', Control Engineering Practice., vol. 3, no. 9, pp. 1255-1264, 1995 https://doi.org/10.1016/0967-0661(95)00124-D
  19. Hsia, T. C. and Gao, L. S., 1990, 'Robot Manipulator Control Using Decentralized Linear Time-Invariant Time-Delayed Joint Controllers,' IEEE Int. Conference on Robotics and Automations, pp. 2070-2075 https://doi.org/10.1109/ROBOT.1990.126310
  20. C. Y. Kim and K. H. Kim, 'Gain scheduling control of magnetic suspension systems', in Proc, Amer. Contr. Conf., June, pp.3127-3131,1994 https://doi.org/10.1109/ACC.1994.735147
  21. Y.-S. Lu and J.-S. Chen, 'design of a perturbation estimator using the theory of variable-structure systems and its application to magnetic suspension systems, IEEE Trans. Ind. Electron., vol. 42., pp 281-289, 1995 https://doi.org/10.1109/41.382139
  22. S. J. Joo and J. H. Seo, 'Design and analysis of the nonlinear feedback linearizing control for an electromagnetic suspension system', IEEE Trans. Control Systems Technology, vol. 5, no. 1, pp. 135-144, 1997 https://doi.org/10.1109/87.553672
  23. D. L. Trumper, S. M. Olson, And P.K. Subrahmanyan, 'Linearizing control of magnetic suspension systems', IEEE Trans. Control Systems Technology, vol. 5, no. 4, pp. 427-438, 1997 https://doi.org/10.1109/87.595924
  24. P. K. Sinha, Electromagnetic Suspension: dynamics and control, Peter Peregriunus Ltd., London, 1987