• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.113-113
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• 2000

A robust adaptive technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the vehicle dynamics of each vehicle within the platoon. The external disturbance such as wind gust and a disturbance term due to engine transmission variations and so on are considered. The state observer is used to avoid direct measurement of the relative velocity or acceleration between the controlled and leading vehicles or the controlled vehicle's acceleration. It is shown that platoon stability can be recovered in operation even if a speed dependent spacing policy is adopted, which incorporates a constant time headway in addition to the constant distance. The simulation results demonstrate excellent tracking even in the presence of disturbances.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.859-862
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• 1995

In this paper, an adaptive nonlinear observer using new Off-line algorithm is proposed to reduce the computing time. The estimated velocity data obtained from the control scheme is more accurate than that by the normal interpolation method when the velocity to be estimated is at the low speed or the fast speed. It is also shown that the adaptive controller based on AC100/C30 is useful for implementing the real-time controller.

• 대한전기학회논문지
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• 제45권2호
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• pp.175-184
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• 1996

In this paper the newly developed discrete-time adaptive sliding mode control method is proposed and applied to the power system stabilization problem. In contrast to the conventional continuous-time sliding mode controller, the proposed method is developed in the discrete-time domain and based on the input/output measurements instead of the continuous-time and the full-states feedback, respectively. Because the proposed control method has the adaptivity property in addition to the natural robustness property of the sliding mode control, it is possible to design the power system stabilizer which can overcome both the minor variations of the parameters of the power system and the diverse operating conditions and faults of the power system. Mathematical proof and the various computer simulations are done to verify the performance and stability of the proposed method.

• 전기학회논문지
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• 제57권4호
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• pp.610-616
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• 2008

This paper presents a new robust sensorless control system for high performance induction motor drives fed by a matrix converter with variable structure. The lumped disturbances such as parameter variation and load disturbance of the system are estimated by a variable structure approach based on model reference adaptive scheme. A Reduced Order Extended Luenberger Observer(ROELO) is also employed to bring better responses at the low speed operation. Experimental results are shown to illustrate the performance of the proposed system.

• Nuclear Engineering and Technology
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• 제54권5호
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• pp.1644-1651
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• 2022

This paper focuses on the power-level control of nuclear power plants (NPPs) in the presence of lumped disturbances. An adaptive second-order nonsingular terminal sliding mode control (ASONTSMC) scheme is proposed by resorting to the second-order nonsingular terminal sliding mode. The pre-existing mathematical model of the nuclear reactor system is firstly described based on point-reactor kinetics equations with six delayed neutron groups. Then, a second-order sliding mode control approach is proposed by integrating a proportional-derivative sliding mode (PDSM) manifold with a nonsingular terminal sliding mode (NTSM) manifold. An adaptive mechanism is designed to estimate the unknown upper bound of a lumped uncertain term that is composed of lumped disturbances and system states real-timely. The estimated values are then added to the controller, resulting in the control system capable of compensating the adverse effects of the lumped disturbances efficiently. Since the sign function is contained in the first time derivative of the real control law, the continuous input signal is obtained after integration so that the chattering effects of the conventional sliding mode control are suppressed. The robust stability of the overall control system is demonstrated through Lyapunov stability theory. Finally, the proposed control scheme is validated through simulations and comparisons with a proportional-integral-derivative (PID) controller, a super twisting sliding mode controller (STSMC), and a disturbance observer-based adaptive sliding mode controller (DO-ASMC).

• 전자공학회논문지
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• 제51권1호
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• pp.202-208
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• 2014

로봇 시스템에 작용하는 마찰력은 비선형 형태이며 특히 저속에서의 정밀 제어를 어렵게 만든다. 본 논문에서는 로봇 연구에서 자주 활용되고 있는 벤치마크 로봇 시스템의 단축 모델에 대한 동적 마찰 보상 문제를 다룬다. 마찰 모델은 동적 특성 및 다양한 효과를 나타낼 수 있도록 비선형 동적 모델인 LuGre 모델을 고려한다. 본 논문에서 제안하는 제어기는 두 부분으로 구성된다. 동적 마찰의 추정 및 보상을 위해 Dual 관측기 기반의 적응 제어기를 사용한다. 마찰 추정 오차 및 나머지 외란을 보상하기 위해 PI 관측기를 추가로 설계한다. 모의실험을 통해 비선형 동적 마찰이 벤치마크 로봇 시스템의 제어 성능에 미치는 영향을 확인하고 제안된 제어기를 사용함으로써 동적 마찰에 대한 제어 성능이 향상됨을 보인다.

• 한국항공우주학회지
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• 제38권3호
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• pp.228-235
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• 2010

본 논문에서는 틸트로터 항공기의 회전익 모드에 대한 자율비행 유도제어 알고리즘을 적응제어기법을 이용하여 설계하는 것이다. 이를 위해 우선 출력기반 근사적 궤환선형화 기법을 통하여 알고리즘의 내부루프를 구성하고 그로부터 발생하는 모델오차를 단일 은닉층-신경망을 적용하여 상쇄하였다. 그리고 리아푸노프 안정성 이론에 따른 적응제어 갱신법칙은 선형 관측기를 기반으로 설계하였다. 나아가 외부루프는 경로점 유도법칙으로부터 생성되는 궤적을 추종하도록 하였으며 특히 엄밀한 자동착륙 궤적추종 성능 향상을 위하여 방향각 및 비행경로각 시선유도법칙을 설계하였다. 틸트로터 비선형 모델 시뮬레이션 결과는 콜렉티브 입력에서 보이는 순간적인 작동기 포화현상 이외에는 만족할 만한 안정성과 추종성능을 보여 주고 있다.

• 전력전자학회논문지
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• 제10권1호
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• pp.52-60
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• 2005

펄스 폭 변조 전압원 인버터에서는 전압 명령과 실제 전압 사이에 전압 차 또는 전압 왜곡이 존재한다. 이 전압 왜곡은 동작 온도, DC 링크 전압, 및 상전류 수준에 따라 달라진다. 또한 전압 왜곡은 전류 왜곡, 전동기 토크 맥동, 그리고 제어 성능에 영향을 미친다. 본 논문에서는 펄스 폭 변조 전압원 인버터의 전압 왜곡을 분석하고, 모델기준 적응 시스템(Model Reference Adaptive System)을 기반으로 하여 영구자석 동기 전동기의 파라미터 변화에 강인한 새로운 실시간 전압 왜곡 관측 기법을 제안한다. 그리고 제안된 전압 왜곡 관측 및 보상 기법에 대한 모의실험 및 실험을 통해서 그 효용성을 증명한다.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 추계학술대회 논문집
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• pp.23-26
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• 2001

This paper presents a digital motion control system for Reluctance Synchronous Motor (RSM) drives with direct torque control (DTC). The system consists of stator flux observer, torque estimator: two hysteresis band controllers, an optimal switching look-up table, IGBT voltage source inverter(VSI), and TMS320C31 DSP controller by using fully integrated control software. The stator flux observer is based on the combined voltage and current model with stator flux feedback adaptive control of which inputs are current, voltage and actual rotor angle for wide speed range. In order to prove the suggested motion control algorithm, There are some simulation and testing at actual experimental system. The developed digitally high-performance motion control system are shown a good motion control response characteristic results and high performance features using 1.0Kw RSM.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1694-1700
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• 2004

In this paper, we propose the AWLS/MFT (Adaptive Weighed Least Squares/ Modulation Function Technique) devised by A. E. Pearson et al. for the transfer function estimation of a modal system and investigate the performance of several algorithms, the Gram matrix method, a Luenberger Observer (LO), Least Squares (LS), and Recursive Least Squares (RLS), for the estimation of initial conditions. With the benefit of the Modulation Function Technique (MFT), we can separate the estimation problem into two phases: the transfer function parameters are estimated in the first phase, and the initial conditions are estimated in the second phase. The LO method produces excellent IC estimates in the noise free case, but the other three methods show better performance in the noisy case. Finally, we compared our result with the Prony based method. In the noisy case, the AWLS and one of the three methods - Gram matrix, LS, and RLS- show better performance in the output Signal to Error Ratio (SER) aspect than the Prony based method under the same simulation conditions.