• Journal of the Institute of Convergence Signal Processing
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• v.6 no.2
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• pp.82-88
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• 2005

A compensation scheme for a class of linearly parameterized systems is presented. The compensator consists of a typical linearizing control and an adaptive observer with integration type update law, which is based on Speed Gradient (SG) algorithm.. Instead of the intermediate functions of the compensation schemes suggested by other researchers, the proposed compensator is designed with some design functions which guarantee the growth, convexity, attainability, and pseudo gradient conditions in the update law. The scheme achieves the asymptotic stability of the tracking error and the boundedness of the estimation errors. A numerical example is given to demonstrate the validity of the proposed design.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.1
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• pp.50-58
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• 2009

For precise tracking control of a servo system with nonlinear friction, a robust friction compensation scheme is presented in this paper. The nonlinear friction is difficult to identify the friction parameters exactly through experiments. Friction parameters can be also varied according to contact conditions such as the variation of temperature and lubrication. Thus, in order to overcome these problems and obtain the desired position tracking performance, a robust adaptive back-stepping control scheme with a dual friction observer is developed. In addition, to estimate lumped friction uncertainty due to modeling errors, a DEKF recurrent neural network and adaptive reconstructed error estimator are also developed. The feasibility of the proposed control scheme is verified through the experiment fur a ball-screw system.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.46 no.3
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• pp.19-25
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• 2009

In this thesis, design effective elimination interference algorithm of ICS repeat system for repeater that improve frequency efficiency. Error convergence speed and accuracy of LMS Algorithm are influenced by reference signal. For improve LMS Algorithm, suggest Adaptive channel estimate algorithm. For using channel characteristic, adaptive channel estimate algorithm make reference signal similar interference signal by convolution operation and complement LMS algorithm demerit. For make channel similar piratical channel, apply Jake's Rayleigh multi-path model that random five path with 130Hz Doppler frequency. LMS algorithm and suggested adaptive channel estimate algorithm that have 16 taps apply to ICS repeat system under Rayleigh multi-path channel, so simulate with MATLAB. According to simulate, ICS repeat system with LMS algorithm show -40dB square error convergent after 150 datas iteration and ICS repeat system with adaptive channel estimate algorithm show -80dB square error convergent after 200 datas iteration. Analyze simulation result, suggested adaptive channel estimate algorithm show more three times iteration performance than LMS algorithm, and 40dB accuracy.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.3C
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• pp.338-347
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• 2007

In this paper, a weighted block adaptive channel estimation (WBA-CE) for a space-time block-coded (STBC) single-carrier transmission with a cyclic-prefix is proposed. In operation of the WBA-CE, a STBC matrix-wise block for filter input symbols is first formulated. Applying a weighted a posteriori error vector-based least-square (LS) criterion for this block, the coefficient correction terms of the WBA-CE are then computed. An approximate steady-state excess mean-square error (EMSE) of the WBA-CE for the stationary optimal coefficient is also analyzed. Simulation results show in a time-varying typical urban (TU) channel that the proposed channel estimator provides better bit-error-rate (BER) performances than conventional algorithms such as the NLMS and RLS channel estimators.

• The Transactions of the Korean Institute of Power Electronics
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• v.14 no.2
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• pp.168-175
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• 2009

This paper proposes an enhanced algorithm for sensorless control of 45,000rpm/22kw type Permanent Magnetic Synchronous Motor (PMSM) with air-foil bearing. The proposed algorithm is based on iterative adaptive flux observer for sensorless control of the motor in wide speed range by on-line estimating angle and velocity of rotor. Simulation error between actual and estimated angle of rotor is analyzed to enhance characteristics of frequency response of conventional adaptive flux observer, which results in stable response in wide range of speed. Using the iteration number for stable phase-delay characteristics, the observer enhances the dynamic characteristics of the observer within current control period. The experiment results show the reliable performance of the proposed algorithm through starting to high speed operating range.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.221-222
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• 2007

본 논문에서는 초정밀 위치 결정 시스템에서 보다 정확한 제어를 위한 새로운 제어기를 설계한다. 외란을 고려한 시스템의 경우, 환경이 달라질 때마다 측정 노이즈를 정확하게 알아내기란 쉽지 않다. 따라서 측정 장치의 정확성을 나타낼 수 있도록 칼만 필터추정기와 퍼지 이론을 이용하여 정확한 측정 오차값을 구한다. 이때, 파라미터 불확실성과 의란에 강인한 제어를 위해 슬라이딩 모드 제어기와 LQ 최적 제어기가 적용된다. 최종적으로, 제안된 제어기와 시간 최적 제어기의 성능비교를 통하여 보다 강인하고 안정된 성능개선을 증명한다.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.12
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• pp.89-99
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• 2008

In this paper, the position tracking control problem of the servo system with nonlinear dynamic friction is issued. The nonlinear dynamic friction contains a directly immeasurable friction state variable and the uncertainty caused by incomplete parameter modeling and its variations. In order to provide the efficient solution to these control problems, we propose the composite control scheme, which consists of the robust friction state observer, the FNN approximator and the approximation error estimator with sliding mode control. In first, the sliding mode controller and the robust friction state observer is designed to estimate the unknown internal state of the LuGre friction model. Next, the FNN estimator is adopted to approximate the unknown lumped friction uncertainty. Finally, the adaptive approximation error estimator is designed to compensate the approximation error of the FNN estimator. Some simulations and experiments on the servo system assembled with ball-screw and DC servo motor are presented. Results show the remarkable performance of the proposed control scheme. The robust friction state observer can successfully identify immeasurable friction state and the FNN estimator and adaptive approximation error estimator give the robustness to the proposed control scheme against the uncertainty of the friction parameters.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.12
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• pp.1925-1930
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• 2010

For high-speed/high-accuracy position control of a gantry-moving-type linear motor, we propose a nonlinear adaptive controller including a synchronization algorithm. Linear motors are easily affected by force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbances. Synchronization error is also caused by skew motion, model uncertainties, and force disturbance on each axis. Nonlinear effects such as friction and ripple force are estimated and compensated for. The synchronization algorithm is used to reduce the synchronous error of the two side pillars. The performance of the controller is evaluated via computer simulations.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.5 no.3
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• pp.266-272
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• 2004

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method will be used to estimate the vehicle parameters such as mass, time constant, etc. The nonlinear model between the driving force and the vehicle acceleration will be chosen to design the state observer for the vehicle velocity and acceleration. It will be shown that the proposed observer is exponentially stable, and that the adaptive controller proposed in this paper is stable by the Lyapunov function candidate. It will be proved that the errors of the relative distance, velocity and acceleration converge to zero asymptotically fast, and that the overall system is also asymptotically stable. The simulation results are presented to investigate the effectiveness of the proposed method.

• Journal of KSNVE
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• v.10 no.6
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• pp.1059-1066
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• 2000

In this paper. a new indirect feedback active noise control (ANC) scheme barred on the fundamental frequency estimation is proposed for systems with a harmonic noise. When reference signals necessary for feedforward ANC configuration are difficult to obtain, the conventional ANC algorithms for multi-tonal noise do not measure the reference signals but generate them with the estimated frequencies.$^{(4)}$ However, the beating phenomena, in which certain frequency components of the noise vanish intermittently, may make the adaptive frequency estimation difficult. The confusion in the estimated frequencies due to the beating phenomena makes the generated reference signals worthless. The proposed algorithm consists of two parts. The first part is a reference generator using the fundamental frequency estimation and the second one is the conventional feedforward control. We propose the fundamental frequency estimation algorithm using decision rules. which is insensitive to the beating phenomena. In addition, the proposed fundamental frequency estimation algorithm has good tracking capability and lower variance of frequency estimation error than that of the conventional cascade ANF method.$^{(4)}$ We are also able to control all interested modes of the noise, even which cannot be estimated by the conventional frequency estimation method because of the poor S/N ratio. We verify the performance of the proposed ANC method through simulations for the measured cabin noise of a passenger ship and the measured time-varying engine booming noise of a passenger vehicle.