• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.2
• /
• pp.160-168
• /
• 1997

A $H_{\infty}$self-tuning control scheme for the tip position of a flexible link robot handling unknown loads is presented here. The scheme essentially comprises a recursive least-squares identification algorithm and $H_{\infty}$self-tunning controller. The $H_{\infty}$control low is designed to be robust to uncertain parameters and the self-tunning action provides adaption to unknown parameters. Through numerical study, the performance comparison of the $H_{\infty}$self-tuning controller with a constant gain $H_{\infty}$controller as well as a LQG self-tuning controller clearly shows its superior ability in handling load changes in quiescent states.nt states.

• Proceedings of the KIPE Conference
• /
• 2018.11a
• /
• pp.113-114
• /
• 2018

ITER TF AC/DC Converter는 2Quadrant 동작하며 컨버터 변압기의 무부하 Tap chage position에 따라 출력 전압은 ${\pm}160V/68000A$, ${\pm}650V/68000A$ 2가지 출력 사양으로 동작한다. TF Local Controller는 2상한 동작과 변압기 Tap change 제어에서 높은 신뢰도를 요구 한다. 본 논문은 RTDS를 이용하여 TF 컨버터 제어기의 성능을 검증한 내용을 논의하고자 한다.

• Proceedings of the KAIS Fall Conference
• /
• 2002.05a
• /
• pp.264-266
• /
• 2002

원자력 발전소의 2차계통수에는 pH를 조절하여 부식을 억제하기 위해 pH제어제로 약염기성 화학물질을 첨가하고 있다. pH 제어제로 암모니아를 사용하였으나 pH가 낮아 부식생성물이 생성되어 증기발생기의 전열관에 슬러지의 퇴적으로 전열관의 부식이 촉진되므로 pH 제어제를 에탄올아민으로 바꿈으로 슬러지의 생성 및 이동을 억제하고 있다. 그러나 에탄올아민은 암모니아와 물리화학적 성질이 다르므로, 증기발생기에 유입되는 부식생성물의 용해와 흡착, 이온성 불순물의 잠복현상에 미치는 영향이 다르다. 본 연구는 암모니아와 에탄올아민이 온도가 점차 높아짐에 따라 부식생성물에 대찬 용해와 흡착, 이온성불순물의 잠복현상에 미치는 영향을 조사하였다. 이 실험의 결과로 2차 계통수의 pH 제어제는 ETA가 암모니아보다 증기발생기 슬러지의 철산화물에 더 흡착되어 더 많이 용해되어 퇴적된 슬러지 양을 감소시키므로, 슬러지에 흡착된 불순물의 양을 감소시저 잠복 현상을 억제할 것으로 조사되었다.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.7
• /
• pp.578-583
• /
• 2002

This paper presents a method for designing fuzzy $H_2/H_{\infty}$ controllers of nonlinear systems with time varying delay. Takagi-Sugeno fuzzy model is employed to represent nonlinear systems with time varying delay. Using a single quadratic Lyapunov function, the globally exponential stability and $H_2/H_{\infty}$ performance problem are discussed. A sufficient condition for the existence of fuzzy $H_2/H_{\infty}$ controllers is then presented in terms of linear matrix inequalities(LMls). The proposed fuzzy $H_2/H_{\infty}$ controllers minimizes the upper bound on the linear quadratic performance measure.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.560-564
• /
• 1996

A mixed H$^{2}$/$H^{\infty}$ controller design method for linear systems with time delay in all variables and parameter uncertainties in all system matrices is proposed. Robust $H^{\infty}$ performance and H$^{2}$ performance condition that accounts for model-matching of closed loop system and disturbance rejection is also derived. With expressing uncertain system with linear fractional transformation form, we transform the robust stability and performance problem to the H$^{2}$/$H^{\infty}$ optimization problem and design a mixed H$^{2}$/$H^{\infty}$ controller. Using the proposed method, mixed H$^{2}$/$H^{\infty}$ controller for underwater vehicle with time delay and parameter variations are designed. Simulations of a design example with hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.t performance.ance.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.11a
• /
• pp.391-395
• /
• 1996

This paper presents a robust force tracking control of a small-sized SMA gripper with two fingers using shape memory alloy(SMA) actuators. The mathematical governing equation of the proposed system is derived by Hamilton's principle and Lagrangian equation and then, the control system model is integrated with the first-order actuator dynamics. Uncertain system parameters such as time constant of the actuators are also included in the control model. A robust two degree of freedom(TDF) controller using H$_{\infty}$ control theory, which has inherent robustness to model uncertainties and external disturbances, is adopted to achieve end-point force tracking control of the two-finger gripper. Force tracking control performances for desired trajectories represented by sinusoidal and step functions are evaluated by undertaking both simulation and experimental works.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.26 no.2
• /
• pp.399-405
• /
• 2002

This paper proposes a new type of piezoactuator-driven valve system. The piezoceramic actuator bonded to both sides of a flexible beam surface makes a movement required to control the pressure at the flapper-nozzle of a pneumatic valve system. After establishing a dynamic model, an appropriate size of the valve system is designed and manufactured. Subsequently, a robust H$_{\infty}$ control algorithm is formulated in order to achieve accurate tracking control of the desired pressure. The controller is experimentally realized and control performance for the sinusoidal pressure trajectory is presented in time domain. The control bandwidth of the valve system, which directly represents the fastness, is also evaluated in the frequency domain.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.14 no.1
• /
• pp.1-10
• /
• 2010

Design and performance evaluation of $H_2O_2$ monopropellant thrusters to be used at reaction control of space launch vehicles were presented in this paper. Design thrust level was determined as 100, 250 Newton which is nominal thrust level for commercial space launch vehicles. Qualification thruster models including solenoid valves were developed after the reactor design were evaluated at engineering thruster models. Each thruster was evaluated by measurement of characteristic velocity, thrust, specific impulse, and pulse response times at sea level test condition.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.331-331
• /
• 2000

This paper presents the mixed $H_2/H_{\infty}$ output feedback controIler design method for linear systems with delayed state. The objective is to design the output feedback controller which minimizes the H$_2$-norm of one transfer function while ensuring the H$_{\infty}$-norm of the other is held below a chosen level. When objective is tormulated in terms of a common Lyapunov function, the sufficient conditions of existence of mixed $H_2/H_{\infty}$ controller are given in terms of LMIs. terms of LMIs.

• Journal of Drive and Control
• /
• v.12 no.2
• /
• pp.1-6
• /
• 2015

Recently, the Electro-Hydrostatic Actuator(EHA) has been developed as a result of research on energy saving. EHA is usually composed of a direct driven pump from an electric motor and is available to control cylinder displacement or velocity with high efficiency. In addition, it has the advantage of compactness, minimum leakage and availability of decentralized control. In this study, an EHA system was designed to decrease the path tracking error and manufactured for test. The linearization method provided in AMESim software was used to derive the model of EHA system. The derived model was applied to design the PI-D controller to effectively overcome the disturbance. The effectiveness of this controller was verified by further testing.