• 대한기계학회논문집A
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• 제21권8호
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• pp.1229-1240
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• 1997

The purpose of this study is to build up control scheme that promptly control pressure in a hydraulic cylinder having comparatively small control volume, using a PCV (proportional control valve) and a digital computer. Object pressure control system has the character to be unstable easily, because the displacement-flow gain of the PCV is too large considering the small volume of the hydraulic cylinder and the time delay of response of the PCV is comparatively long. Considering the above-mentioned characteristics of the object pressure control system, in this study, control system is designed with two degree of freedom control scheme that is composed by adding a feed-forward control path to I-PDD$^{2}$ control system, and a reference model is used on the decision of control parameters. And through some experiments on the control system with FF-I-PDD$^{2}$ controller, the validity of this control method has been confirmed.

• 대한전기학회논문지:전력기술부문A
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• 제48권8호
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• pp.980-986
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• 1999

In this paper, the optimal controller which decouples a coupled multivariable system and minimizes a quadratic performance index is proposed. Design of the controller is based on the two-degree-of-freedom standard model. The class of all stabilizing and decoupling controllers is parametrized first and the $H^{2}$optimal controller is obtained by using this parametrized form. An illustrative example for a $2{\times}2$ plant is given.

• 전자공학회논문지B
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• 제33B권6호
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• pp.12-22
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• 1996

A numerous designs of PI controllers have been suggested to solve out trade-off between tracing and regulating problems. We constructed the PI controller system with two-degree-of-freedom that is more analytic and a better approach to a practical one. In the conventional H$_{2}$ design of optimal PI controllers, the cost function includes only the plant output terms due to the divergent problems. Since the platn input temr is not considered in PI controller design, occasionally, the plant input thends to be either very large or saturated. To solve the prior mentioned problems, we employed a mixed $H_2/H_{\infty}$ method that combines the H$_{2}$ design method to decide optimal parameters of PI controller and the $H_2/H_{\infty}$ design method to minimize the maximum amplitude of plant input. The calculation time of the H$_{infty}$ norm was considerably reduced by the simple scalar function obtained by the wiener-hopf factorization of non-scalar functions.

• 융합신호처리학회논문지
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• 제5권1호
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• pp.66-72
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• 2004

PID제어는 수십년간 잘 사용이 되어 왔다. PID알고리즘은 적당한 튜닝법을 사용하여 파라미터를 구하여 제어시스템을 설계한다. 그러나 어떤 경우에는 다양한 평가지표가 필요하고, 따라서 이들 다양한 평가지표를 사용하여 설계할 제어시스템이 필요로 하는 조건들을 만족되게 해야 한다. 본 논문에서는 오차, 제어입력의 에너지 및 제어입력의 변화율 등의 시간영역지표들은 물론이고 견실성을 확보하기 위해서 견실성 지표 예들 들면 가중치를 부과한 상보감도함수의 무한대놈을 포함한 선형조합형태의 평가지표를 사용하여 2 자유도 PID제어기를 설계한다. 수치해석을 통하여 최적의 2 자유도 PID파라미터들을 구한다. 이들 I-PD형 등의 2자유도 형은 PID를 변형한 형태로서 단일의 PID제어기들에 비해 더 개선된 출력특성을 얻을 수 있음을 보인다. 시뮬레이션은 MATLAB m 및 mdl파일을 통하여 실행한다.

• 동력기계공학회지
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• 제17권3호
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• pp.72-81
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• 2013

Many articles have been published about a 2-degree of freedom model that includes the lateral and yaw motions for controller synthesis in intelligent transport system applications. In this paper, a 3-degree of freedom linear model that includes the roll motion is developed to design a robust steering controller for lane following maneuvers using ${\mu}$-synthesis. This linear perturbed system includes a set of parametric uncertainties in cornering stiffness and unmodelled dynamics in steering actuators. The state-space model with parametric uncertainties is represented in linear fractional transformation form. Design purpose can be obtained by properly choosing the frequency dependent weighting functions. The objective of this study is to keep the tracking error and steering input energy small in the presence of variations of the cornering stiffness coefficients. Furthermore, good ride quality has to be achieved against these uncertainties. Frequency-domain analyses and time-domain numerical simulations are carried out in order to evaluate these performance specifications of a given vehicle system. Finally, the simulation results indicate that the proposed robust controller achieves good performance over a wide range of uncertainty for the given maneuvers.

• Earthquakes and Structures
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• 제11권1호
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• pp.165-178
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• 2016

The goal of energy-based seismic design is to obtain a structural design with a higher energy dissipation capacity than the energy dissipation demands incurred under earthquake motions. Accurate estimation of the story hysteretic energy demand of a multi-story structure is the key to meeting this goal. Based on the assumption of a mode-equivalent single-degree-of-freedom system, the energy equilibrium relationship of a multi-story structure under seismic action is transformed into that of a multi-mode analysis of several single degree-of-freedom systems. A simplified equation for the estimation of the story seismic hysteretic energy demand was then derived according to the story shear force and deformation of multi-story buildings, and the deformation and energy relationships between the mode-equivalent single-degree-of-freedom system and the original structure. Sites were categorized into three types based on soil hardness, namely, hard soil, intermediate hard (soft) soil, and soft soil. For each site type, a 5-story and 10-story reinforced concrete frame structure were designed and employed as calculation examples. Fifty-six earthquake acceleration records were used as horizontal excitations to validate the accuracy of the proposed method. The results verify the following. (1) The distribution of seismic hysteretic energy along the stories demonstrate a degree of regularity. (2) For the low rise buildings, use of only the first mode shape provides reasonably accurate results, whereas, for the medium or high rise buildings, several mode shapes should be included and superposed to achieve high precision. (3) The estimated hysteretic energy distribution of bottom stories tends to be underestimated, which should be modified in actual applications.

• 한국소음진동공학회논문집
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• 제23권8호
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• pp.681-689
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• 2013

The commercial tools to simulate the non-linear dynamic characteristics of wind turbine system are various but, the tool take much time to simulate the control algorithm and require many input variables. In this paper, the procedures to derive the simplified 4-degree-of-freedom mathematical model of a 2-MW wind turbine which could be used at the initial design stage of the controller are proposed based on RISO's suggested method. In this model, the 1st tower fore-after bending motion and 1st blade flapping motion are also considered in addition to the rotor-generator rotation motion in the 2-DOF model. The effectiveness of the 4-DOF model is examined comparing with the 2-DOF model and verification of the simplified model is accomplished through modal analysis for whole wind turbine system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.847-849
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• 1999

본 논문에서는 도립 진자 시스템에 대하여 모델의 불확실성에도 불구하고 수레의 위치가 기준 입력을 추종하는 강건한 2-자유도(two degree of freedom) 제어기를 설계한다. 도립 진자 시스템의 모델 불확실성은 기약 분해 불확실성으로 고려하고, 기준 입력 추종 성능은 도립 진자 시스템의 수레 위치가 원하는 기준 위치로 추종하는 문제를 고려한다. 이러한 강건 안정화와 기준입력 추종사이의 절충 문제를 해결하기 위해서 2-자유도 제어기를 설계한다. 2-자유도 제어기는 프리필터와 피드백 제어기로 구성된다. 설계 절차에 따라 얻어진 제어기는 모의 실험을 통해 그 성능을 확인한다.

• 한국해양공학회지
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• 제13권3B호
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• pp.91-98
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• 1999

In order to reject the steady-state tracking error, it is common to introduce integral compensators in servosystems for constant reference signals. However, if the mathematical model of the plant is exact and no disturbance input exists, the integral compensation is not necessary. From this point of view, a two-degree-of-freedom(2DOF) servosystem has been proposed, in which the integral compensation is effective only when there is a modeling error or a disturbance input. The present paper considers a synthesis problems of this 32DOF servosystem with direct transfer term in the system representation. And, a method how we may obtain a gain such that desirable transient response is achieved, is proposed in the presence of the modelling error and disturbance input.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2788-2790
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• 2002

In this paper, we designed neural network predictive two degree of freedom PID controller to control sway of crane Crane's trolley arrive minimum oscillation of transfer body and establishment position in minimum time. When various establishment location and surrounding disturbance were approved based on mathematical modeling of crane, controller designed to become effective control location error and oscillation angle of two control variables that simultaneously can predictive control. We wish to develop automatic travel control system through anti-sway skill of crane.