• Proceedings of the KIEE Conference
• /
• 2001.07e
• /
• pp.17-19
• /
• 2001

In this paper, we constitute H/W systems for the accurate control of DC servo motor. This H/W systems are designed by applying a simple genetic algorithm (SGA) to the robust $H_{\infty}$ control system and the intelligent Fuzzy control system of DC motor, respectively. To verify the effectiveness of the proposed systems, the characteristics of this systems are analysed and simulated.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.6
• /
• pp.1882-1892
• /
• 1996

This paper is concerned with the position control of the ond degree-of freedom manipulator using pneumatic artificial muscle actuator which is built to have a proper compliance. For t his pneumatic artificial muscle actuator though, it is difficult to make an effective control scheme due to the nonlinearity and uncertainties on the dynamics of the actuator. In this paper, a third-order equation of motion is derived for the actuator including the dynamics of the pneumatic servovalve. Later, various modeling uncertainties due to the nonlinearity and unmodeled dynamics of the servo vlave and the actuator are taken care of, as a trade-off between the closed-loop performance of the controlled system and its robustness to uncertainties. A controller using .mu. synthesis thchnique is designed, and robust performance against measurement noise, various modeling uncertainties due to the dynamics of the servo valve and actuator is achieved. The effectiveness of the proposed control methods is illustrated through simulations and experiments.

• Journal of Power System Engineering
• /
• v.12 no.6
• /
• pp.42-49
• /
• 2008

The most important job in the container terminal area is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servo system design approach to obtain the desired state informations. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted $H_{\infty}$ error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.15 no.10 s.103
• /
• pp.1148-1159
• /
• 2005

In this paper, the various uncertainties generated in an optical disk drive (ODD) and the robust servo designs considering the uncertainties are studied. First, the brief introduction an ODD and the servo error tolerance of it are discussed. Then, the classifications of uncertainty and the concept of relative stability are introduced. Considering the uncertainty of an ODD, two robust control approaches are applied: (i) mixed sensitivity approach in H$\infty$ control theory for unstructured uncertainty, (ii) QFT for structured uncertainty Finally, the designed controllers are realized by DSP, and these controllers are applied to a commercial DVD-ROM drive. From these experiments, we prove that the designed robust controllers have more good disturbance rejection performance and robustness when it is compared to the conventional lead-lag controller.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.36 no.10
• /
• pp.1171-1179
• /
• 2012

In this study, we consider a dynamic positioning system (DPS) design problem that can be extended to many application fields. Toward this end, tracking and positioning control problems are discussed. In particular, we design a tracking control system that incorporates an observer based on the 2-DOF servo system design approach in order to obtain the desired state information. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation (inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator that satisfies the weighted $H_{\infty}$ error bound is introduced. The condition for the existence of the estimator is denoted by a linear matrix inequality (LMI) that yields an optimized solution and the observer gain.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.6
• /
• pp.502-508
• /
• 2001

In this paper, slack is computed from a comparison of the cable pay out rate and the ship ground speed in accordance with laying conditions, and the speed controller of the cable engine based on an H(sub)$\infty$ servo control id designed for adjusting the cable engine in order to lay a desired amount of slack. The controller is designed for robust tracking of the cable engine under disturbances. The performance of the designed controller is evaluated by computer simulation, and, consequently, a feasibility study for laying the submarine cable stably is done through analyzing simulation results.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.10
• /
• pp.3186-3198
• /
• 1996

When a robot is to have contact with its enviornment, such as a medi-care robot, it would be advantageous for the robot to have a high compliance. For this reason, a robot having not only a flexible link but also an actuator with compliance, is desirable. This paper is concerned with the position and vibration control of 1 degree of freedom flexible robot using a pneumatic artificial muscle actuator. The dynamics of the manipulator assumed to be and Euler-Bernoulli beam are derived on the basis of the linear mathematical modle. Although this pneumatic artifical muscle actuator has many merits for the compliance robot, it is difficult to make an effective control scheme of this system because of ths nonlinearity and uncertainty on the dynamics of the actuator. By designing a controller using .mu.-synthesis, robust performance against measurement noise, various modeling uncertainties on the dynamics of the servo valve, actuator and mainpulator, is achieved. The effectiveness of the proposed control method is illustrated through simulations and experiments.

• Journal of Power System Engineering
• /
• v.3 no.4
• /
• pp.79-85
• /
• 1999

The magnetic levitation system is utilized in the magnetic bearing of high-speed rotor system because of little friction, no lubrication, no noise and so on. The magnetic levitation system needs the feedback controller for the stabilization of system, and gap sensors are generally used to measure the gap. The use of sensor easily goes into troublesome caused by sensor failure discord between the measurement point and the control point etc. This paper gives a controller design method of magnetic levitation system which satisfies the given $H_{\infty}$ control performance and the robust stability of the presence of physical parameter perturbations. To the end, we investigated the validity of the designed controller through results of simulation.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.33 no.1
• /
• pp.46-58
• /
• 1997

The energy saving is one of the most important factors for profit in marine transportation. In order to reduce the fuel oil consumtion the ship's propulsion efficiency must be increased as possible. The propulsion efficiency depends upon a combination of an engine and a propeller. The propeller has better efficiency as lower rotational speed. This situation led the engine manufacturers to design the engine that has low speed, long stroke and a small number of cylinders. Consequently, the variation of rotational torque became larger than before because of the longer delay-time in fuel oil injection process and an increased output per cylinder. As this new trends the conventional mechanical-hydrualic governors for engine speed control have been replaced by digital speed controllers which adopted the PID control or the optimal control algorithm. But these control algorithms have not enough robustness to suppress the variation of the delay-time and the parameter perturbation. In this paper we consider the delay-time and the perturbation of engine parameters as the modeling uncetainties. Next we design the robust servo controller which has zero offset in steady state engine speed, based on H sub($\infty$) control theory. The validity of the controller was investigated through the response simulation. We used a personal computer and an analog computer as the digital controller and the engine (plant) part respectively. And, we could certify that the designed controller maintains its robust servo performance even though the engine parameters may vary.

• Journal of Advanced Marine Engineering and Technology
• /
• v.33 no.8
• /
• pp.1212-1219
• /
• 2009

In this paper, a state feedback gain controller using linear matrix inequality(LMI) for the multi-objective synthesis is designed, in the multi-layer structure with integral type servo system. The design objectives include $H_{\infty}$ performance, asymptotic disturbance rejection, time-domain constraints, on the closed-loop pole location. The results of computer simulation show the validity of the designed controller.