• Title/Summary/Keyword: 관측기설계

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Robust Output Feedback Control Using a Servocompensator (서보보상기를 사용한 견실 출력귀환제어)

  • Lee, Ho-Jin;Lee, Keum-Won
    • Journal of the Institute of Convergence Signal Processing
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    • v.8 no.3
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    • pp.217-221
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    • 2007
  • This paper deals with the robust nonlinear controller design using output feedback for a Chua circuit which is one of the well-known nonlinear models. First, an exosystem for reference signal tracking is defined, and error dynamic equations are derived from the differentiation of the output tracking error equation. The normal sliding surface is modified using the integral type servo compensator. The parameters in the equations of the modified sliding surface and servo compensator are determined by using the Hurwitz condition of stability. Especially the error signals can't be obtained directly from the output because all parameters are assumed unknown. So instead, a high gain observer is designed. From this estimated error signals, a stabilizing controller is designed. Simulation is done for demonstrating the effectiveness of the suggested algorithm.

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Output-Feedback Input-Output Linearizing Controller for Nonlinear System Using Backward-Difference State Estimator (후방차분 상태 추정기를 이용한 비선형 계통의 입출력 궤환 선형화 제어기)

  • Kim, Seong-Hwan;Park, Jang-Hyun
    • Journal of IKEEE
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    • v.9 no.1 s.16
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    • pp.72-78
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    • 2005
  • This paper describes the design of a robust output-feedback controller for a single-input single-output nonlinear dynamical system with a full relative degree. While all the previous research works on the output-feedback control are based on dynamic observers, a new state estimator which uses the past values of the measurable system output is proposed. We name it backward-difference state estimator since the derivatives of the output are estimated simply by backward difference of the present and past values of the output. The disturbance generated due to the error between the estimated and real state variables is compensated using an additional robustifying control law whose gain is tuned adaptively. Overall control system guarantees that the tracking error is asymptotically convergent and that all signals involved are uniformly bounded. Theoretical results are illustrated through a simulation example of inverted pendulum.

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Vibration Control of a Cantilever Beam Using Thermal Stresses (열응력을 이용한 외팔보의 진동제어)

  • 권태철;이우식
    • Computational Structural Engineering
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    • v.7 no.3
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    • pp.123-131
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    • 1994
  • This paper is concerned with a new concept of vibration control in which thermal stresses are utilized. Thermal actuators are used to generate thermal stresses in a vibrating beam. The thermal actuators are found to work successfully as the control means. Especially the proposed control method in this paper can be effectively applied to the large space structures with low natural frequencies rather than to the structures with high natural frequencies. In the process of control design, various control methods including optimal-robust control method are investigated. Through numerical simulations, it is found that the robust-optimal control method can be efficiently with the vibration control of a cantilever beam using thermal stresses.

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A Design of Disturbance Observer to Improve of Disturbance Response for Time Delay Systems (시간지연시스템의 외란응답 특성 개선을 위한 외란 관측기 설계에 관한 연구)

  • Lee, Soon-Young
    • Journal of IKEEE
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    • v.21 no.4
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    • pp.424-427
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    • 2017
  • Smith predictor can't be applied to the time delay systems that have poles near the origin or a pure integrator or a modeling error, because of occurring the steady state error for the step disturbance. In this paper, a new Smith predictor controller for these systems is designed to eliminate the effects of the disturbance. A disturbance observer to estimate a disturbance is proposed and a new controller is designed using the estimated disturbance. As a result, the new controller can eliminate the effects of the disturbance and modeling error. The simulation results for the steam superheater and the steam pressure systems verify the efficiency of the proposed controller.

Speed control of IPMSM using the Disturbance Estimator (외란 추정기를 이용한 매입형 영구자석 동기전동기의 속도제어)

  • Jeon, Yong-Ho
    • The Journal of the Korea institute of electronic communication sciences
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    • v.17 no.5
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    • pp.867-872
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    • 2022
  • The effect of load is an important factor in precise speed control of a motor. n this study, we design a state observer that can estimate and define one state of disturbance including errors and nonlinear terms of mathematical models, which is not easy with a mathematical model. Then, the observation gain is set so that the estimation error of the state observation converges to 0, and the estimated state is used in the back stepping controller to design a controller capable of precise speed tracking. As a result of applying to 1 [hw] class Interior Permanent Magnet Synchronous Motor, excellent stste variable observation and tracking performance can be confirmed.

Design of Auto Tuning Fuzzy Controller for Vibration Suppression (진동억제를 위한 자동추정 퍼지제어기 설계)

  • Park, Jae-Hyung;Kim, Sung-Dae
    • Journal of the Institute of Electronics Engineers of Korea TE
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    • v.39 no.2
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    • pp.118-123
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    • 2002
  • A torque transmission system, which is composed of serveral gears and couplings, is flexible. Therefore, the torsion vibration occurs when the motor speed abruptly changes. Consequently, for accuracy characteristic response of motor, we must suppressed vibration. Therefore, vibration suppression is very important motor control. In order to suppress the vibration, various control method have been proposed. Specially, one method of vibration suppression is used disturbance observer and filter. The disturbance observer is used to suppress the vibration in this method. By feedback of the estimated torsion torque, the vibration can be suppressed. The coefficient diagram method is used to design the filter and proportional controller. But using coefficient diagram method, not adapted controller parameter in disturbance. In order to solve this problem. we used fuzzy controller for auto tuning controller parameter $K_P$. We proved of this approach is confirmed by simulation. 

A Design of Adaptive Backstepping Controller for Improving Position Accuracy of Linear Motor-based Container Transportation System with Dynamic Friction (선형전동기기반 컨테이너 이송시스템의 위치정확도 향상을 위한 적응 Backstepping 제어기 설계)

  • Lee, Jin-Woo;Seo, Jung-Hyun;Han, Geun-Jo;Lee, Kwon-Soon
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • v.1
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    • pp.405-413
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    • 2006
  • In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it an other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.

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Flow Rate Control System Design for the Industrial Valve (산업용 밸브의 유량제어 시스템 설계)

  • Choi, Jeongju
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.21 no.1
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    • pp.387-392
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    • 2020
  • This paper proposes a flow-rate control system for industrial valves. Industrial valves are used in piping systems to control the flow rate and pressure. In general, valves used in pipelines are classified into globe valves, butterfly valves, and ball valves according to the shape. Motor, hydraulic, and pneumatic systems are used for operating valves. The flow meter should measure the flow rate when configuring the flow-rate control system. On the other hand, because the flow rate of the valve can be expressed by flow coefficient, a control scheme is proposed using the pressure deviation, which measures at the front and rear of the valve. The transfer function for the valve, according to the control input, was estimated using the signal compression method. Based on the induced transfer function, the disturbance observer was designed to improve the command following the performance of the valve stem. The performance of the proposed control method is compared with the flow-rate control result using the flow meter used.

Position Controller Implementation Using the Fractional Order Derivative (유리차수 미분을 이용한 위치제어기 구현)

  • Kang, Jung-Yoog;Jeon, Yong-Ho
    • The Journal of the Korea institute of electronic communication sciences
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    • v.14 no.1
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    • pp.185-190
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    • 2019
  • This study aims to apply the mathematical method of fractional order derivatives to the controller that controls the system response. In general, the Laplace transform of the PID controller has an exponent of the integer order of s. The derivative of the fractional order has a fractional exponent of s when it is transformed by Laplace transform. Therefore, this controller proposes a design method with the result of discrete time conversion. Because controllers with fractional exponents of s are not easy to design. This controller is applied to a standard secondary system and its performance is examined. Then, it applies to solenoid valve which is widely used in industrial field. A Luenberger's observer was designed to estimate the disturbance state and the observed state was applied to the fractional order controller. As a result, uniform and precise control performance was obtained. It was confirmed that the position error of the steady state is within 0.1 [%] and the rising time is within about 0.03 [s].

Reduced Order Luenberger State Observer Design for the Jackknifing Phenomenon Prevention of Articulated Vehicles using GPS (위성항법시스템을 이용한 연결식 차량의 잭나이핑 현상 예방을 위한 축소차수 상태관측기 설계)

  • Lee, Byung-Seok;Heo, Moon-Beom
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.7
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    • pp.688-698
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    • 2012
  • This paper deals with ROLSO (Reduced Order Luenberger State Observer) design to prevent jackknifing phenomenon of articulated vehicles consisting of the tractor and semi-trailer by using GPS. In addition, by applying the regulator system using ROLSO feedback system, simulation's result presents that articulated vehicle's states are stabilized than the human's PR time (Preception Response time) rapidly. This simulation verifies that the automatic control of articulated vehicle's can be applied for the accident prevention for the time that the driver is unable to manage with the sudden accident. For this simulation, by using the equation of planar motion, the modeling of the articulated vehicle was performed. This modeling was expressed in the state space model. And FOLSO (Full Order Luenberger State Observer), ROLSO were designed by using the state space model of an articulated vehicle's dynamics.