• Journal of Power Electronics
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• v.4 no.4
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• pp.217-227
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• 2004

A robust controller that combines the merits of the feed-back, feed-forward and model-following control for induction motor drives utilizing field orientation control is designed in this paper. The proposed controller is a two-degrees-of­freedom (2DOF) integral plus proportional & rate feedback (I-PD) speed controller combined with a model-following (2DOF I-PD MFC) speed controller. A systematic mathematical procedure is derived to find the parameters of the 2DOF I-PD MFC speed controller according to certain specifications for the drive system. Initially, we start with the I-PD feed­back controller design, then we add the feed-forward controller. These two controllers combine to form the 2DOF I-PD speed controller. To realize high dynamic performance for disturbance rejection and set point tracking characterisitics, a MFC controller is designed and added to the 2DOF I-PD controller. This combination is called a 2DOF I-PD MFC speed controller. We then study the effect of the 2DOF I-PD MFC speed controller on the performance of the drive system under different operating conditions. A computer simulation is also run to demonstrate the effectiveness of the proposed controller. The results verify that the proposed 2DOF I-PD MFC controller is more accurate and more reliable in the presence of load disturbance and motor parameter variations than a 2DOF I-PD controller without a MFC. Also, the proposed controller grants rapid and accurate responses to the reference model, regardless of whether a load disturbance is imposed or the induction machine parameters vary.

• Wind and Structures
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• v.6 no.4
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• pp.291-306
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• 2003

Many investigations have been conducted to find out the reason behind wind-rain-induced cable vibration in cable-stayed bridges. A single-degree-of-freedom (SDOF) analytical model, which could capture main features of wind-rain-induced cable vibration, was recently presented by the writers. This paper extends the SDOF model to a 2DOF model by including the equation of motion of upper rivulet. The interaction between the upper rivulet and the cable is described in terms of nonlinear damping force, linear restoring force, and inertia force. The computed results using the 2DOF model are first compared with the results from simulated wind-rain tunnel tests, and the comparison is found satisfactory in general. The possible mechanisms of wind-rain-induced cable vibration are discussed and a parametric study is then conducted. Finally, the computed results using the 2DOF model are compared with those predicted by the SDOF model. The 2DOF model is found better than the SDOF model but the SDOF model is still acceptable for its simplicity.

• Journal of Power Electronics
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• v.5 no.2
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• pp.129-141
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• 2005

A high-performance robust hybrid speed controller for a permanent-magnet synchronous motor (PMSM) drive with an on-line trained neural-network model-following controller (NNMFC) is proposed. The robust hybrid controller is a two-degrees-of-freedom (2DOF) integral plus proportional & rate feedback (I-PD) with neural-network model-following (NNMF) speed controller (2DOF I-PD NNMFC). The robust controller combines the merits of the 2DOF I-PD controller and the NNMF controller to regulate the speed of a PMSM drive. First, a systematic mathematical procedure is derived to calculate the parameters of the synchronous d-q axes PI current controllers and the 2DOF I-PD speed controller according to the required specifications for the PMSM drive system. Then, the resulting closed loop transfer function of the PMSM drive system including the current control loop is used as the reference model. In addition to the 200F I-PD controller, a neural-network model-following controller whose weights are trained on-line is designed to realize high dynamic performance in disturbance rejection and tracking characteristics. According to the model-following error between the outputs of the reference model and the PMSM drive system, the NNMFC generates an adaptive control signal which is added to the 2DOF I-PD speed controller output to attain robust model-following characteristics under different operating conditions regardless of parameter variations and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed 200F I-PD NNMF controller. The results confirm that the proposed 2DOF I-PO NNMF speed controller produces rapid, robust performance and accurate response to the reference model regardless of load disturbances or PMSM parameter variations.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.2 s.95
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• pp.135-147
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• 2005

As automobile technology advances, a smoother ride with less noise is desired. In order to achieve these purposes, a study on the vibration and noise produced by a moving automobile was carried out and a model for tire vibration characteristics which influence the ride performance was developed. The model was verified through simulations and experiments. The developed model was then applied to a half car model and automobile vibrations were analyzed. The effects of tire design parameters on the automobile vibration energy were investigated. The results from laboratory and field tests confirm the validity of the analytical model. The 17-DOF half-car model was built to analyze automobile vibration. The characteristics of the nonlinear model for a shock absorber were applied to this model. The results from the present 17-DOF half car model incorporating the analytical tire model with tire design parameters, were compared with the 5-DOF half car model where the tire was modeled with linear springs. The results of the 17-DOF model are close to the experimental results. Using the 17-DOF model, the influence of tire design parameter were considered. According to the analysis results, the vibrations at seat/body/wheel were predicted by simulation and experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.977-989
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• 1999

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.7
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• pp.1-7
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• 2019

A chatter lobe analysis is frequently used to look at the chatter state. Even if there is a lot of research on chatter, chatter lobe characteristics are not well defined. In this study, the chatter lobe behavior according to several variables of vibration mode is verified for further clarity. The dynamic variables of the chatter model are defined and their behaviors on chatter lobe boundary are analyzed in detail. In this sense, the chatter model with 2-DOF (2-DOF) was used to analyze chatter stability characteristics. The discussed results are satisfying and these can be used for the prediction of chatter existence in machining processes of 2-DOF systems in several revolution range. These analyses indicate a better agreement for predicting an appropriate stability lobe over a wide detailed range of critical depths of cut in machining operation. The results allow an excellent prediction of chatter according to various static and dynamic variables in machining states. The behavior of chatter dynamic variables in machining were also discussed in detail. All these results can also be applied to other machining processes by establishing a chatter model in a 2-DOF system.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.2
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• pp.193-200
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• 2002

Simple spring-damper-mass models have been widely used to investigate whole-body vortical biodynamic response characteristics of the seated vehicle driver. Most previous models have not considered the effect of wobbling masses; i.e. heart, lungs, liver, intestine, etc. In this study, 4 -DOF seated driver model including one non-rigid mass representing wobbling visceral mass, 5-DOF model including intestine, and 10-DOF model including five lumbar vertebral masses were proposed. The model parameters were identified by a combinatorial optimization technique. simulated annealing method. The objective function was chosen as the sum of error between model response of seat-to-head transmissibility and driving point mechanical impedance and those of experimental data for subjects seated erect without backrest support. The model response showed a good agreement with the experimental response characteristics. Using a 10-DOF model, calculated resonance frequency of lumbar spine at 4Hz was matched well with experimental results of Panjabi et al.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.12
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• pp.1917-1923
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• 2010

This study focuses on model identification and a 2-DOF PID control algorithm for cooling processes; a pneumatic butterfly-type control valve is used for this purpose. The mathematical model is a transfer function composed of a time delay and a second-order delay system. The control valve is identified as a first-order delay system with a time delay and included in the controlled plant. From the experimental data sets for a demo plant, the model parameters are identified, and the 2-DOF PID control gains are analytically derived by Kitamori's method. We show via a computer simulation and an experimental test that the performance of the proposed 2-DOF PID control system is better than that of a conventional 1-DOF PID control system.

• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.3
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• pp.139-148
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• 2020

This paper is concerned with the H₂ attitude controller design for 3 degree of freedom (DOF) Hover systems with an event-triggered mechanism. The 3 DOF Hover system is an embedded platform for unmanned aerial vehicle (UAV) provided by Quanser. The mathematical model of this system is obtained by a linearization around operating points and it is represented as a linear parameter-varying (LPV) model. To save communication network resources, the event-triggered mechanism (ETM) is considered and the performance of the system is guaranteed by the H₂ controller. The stabilization condition is obtained by using Lyapunov-Krasovskii functionals (LKFs) and some useful lemmas. The effectiveness of the proposed method is shown by simulation and experimental results.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.24 no.1
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• pp.1-9
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• 2016

In this paper, we integrate three degree of freedom(3DOF) point-mass model for aircraft and three-dimensional path generation algorithms using dubins curve and nonlinear path tracking law. Through this integration, we apply the path generation algorithm to the path planning, and verify tracking performance and feasibility of using the aircraft 3DOF point-mass model for air traffic management. The accuracy of modeling 6DOF aircraft is more accurate than that of 3DOF model, but the complexity of the calculation would be raised, in turn the rate of computation is more likely to be slow due to the increase of degree of freedom. These obstacles make the 6DOF model difficult to be applied to simulation requiring real-time path planning. Therefore, the 3DOF point-mass model is also sufficient for simulation, and real-time path planning is possible because complexity can be reduced, compared to those of the 6DOF. Dubins curve used for generating the optimal path has advantage of being directly available to apply path planning. However, we use the algorithm which extends 2D path to 3D path since dubins curve handles the two dimensional path problems. Control law for the path tracking uses the nonlinear path tracking laws. Then we present these concomitant simulation results.