• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.4
• /
• pp.281-285
• /
• 2013

In this paper, a design scheme of a cruise control system for an electric vehicle using piece-wised PD control is proposed. Cruise control of electric vehicles is one of the major performance elements. Drive motors having linear characteristics ideally is required in order to achieve the cruise driving. But practical motors have nonlinear characteristics and the performance of the motors can be improved by the closed-loop control to compensate it. In this paper, we improved the performance of by applying piece-wised PD control because the driving motors having nonlinear characteristics are difficult to obtain adequate performance only using closed-loop control. In order to test the proposed method, the experiments were carried out by applying the proposed method after setting up an electric vehicle equiped with a driving motors having large nonlinear characteristics. The experiment results of the proposed piece-wised PD control shows better performance than that of closed-loop control.

• International Journal of Control, Automation, and Systems
• /
• v.4 no.6
• /
• pp.669-681
• /
• 2006

In this work, a new method of design adaptive controllers for SISO systems based on multiple models and switching is presented. The controller selects the model from a given set, according to a switching rule based on output prediction errors. The goal is to design, at each sample instant, a predictive control law that ensures the robust stability of the closed-loop system and achieves the best performance for the current operating point. At each sample the proposed control scheme identifies a set of linear models that best characterizes the dynamics of the current operating region. Then, it carries out an automatic reconfiguration of the controller to achieve the best possible performance whilst providing a guarantee of robust closed-loop stability. The results are illustrated by simulations a nonlinear continuous and stirred tank reactor.

• Journal of Electrical Engineering and Technology
• /
• v.13 no.2
• /
• pp.1008-1020
• /
• 2018

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

• Journal of Electrical Engineering and information Science
• /
• v.2 no.4
• /
• pp.53-58
• /
• 1997

In this paper, the power system stabilizer(PSS) using the sliding mode observer-model following(SMO-MF) with closed-loop feedback (CLF) for single machine system is extended to multimachine system. This a multimachine SMO-MF PSS for unmeasureable plant state variable is obtained by combining the sliding mode-model following(SM-MF) including closed-loop feedback(CLF) with the full-order observer(FOO). And the estimated control input for unmeasurable plant sate variables is derived by Lyapunov's second method to determine a control input that keeps the system stable. Time domain simulation results for the torque angle and for the angular velocity show that the proposed multimachine SMO-MF PSS including CLF for unmeasurable plant sate variables is able to damp out the low frequency oscillation and to achieve asymptotic tracking error between the reference model state at different initial conditions and at step input.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.1
• /
• pp.82-89
• /
• 2003

A robust motion control method is proposed fur the point-to-point position control of a XY positioning system which consists of a base cart, elastic ben and moving mass. The horizontal motion controller consists of the feedforward controller to suppress the single mode vibration of the elastic beam and the feedback controller to get the high-accuracy positioning performance of the base cart. Input preshaping vibration suppression method based on system modeling with analytic frequency equation is proposed and integrated into the robust internal-loop compensator(RIC) to increase the robustness of the whole closed-loop system The vertical motion controller is proposed based on the dual RIC structure. Through experiments, it is shown that the proposed method can stabilize the system and suppress the vibration in the presence of uncertainties and disturbances.

• Proceedings of the KIEE Conference
• /
• 2004.10a
• /
• pp.179-181
• /
• 2004

This paper is proposed an adaptive fuzzy-neural network(A-FNN) controller based on the vector controlled induction motor drive system. The hybrid combination of fuzzy control and neural network will produce a powerful representation flexibility and numerical processing capability. Also, this paper is proposed speed estimation of induction motor using A closed-loop state observer. The rotor position is calculated through the stator flux position and an estimated flux value of rotation reference frame. A closed-loop state observer is implemented to compute the speed feedback signal. The results of analysis prove that the proposed control system has strong robustness to rotor parameter variation, and has good steady-state accuracy and transitory response.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.27.3-27
• /
• 2001

In this paper, a robust receding horizon controller for uncertain linear time-varying systems is presented in the dynamic output-feedback form. The existing output-feedback receding horizon controller in the literature is composed of a state observer and a static controller associated with the observer states (similar to LQC control), where the fundamental assumption is that the state observer will supply the exact states as time goes up. The performance of those controllers may be much degraded and even the closed-loop stability may not be guaranteed when the system suffers from disturbances and uncertainties or is time-varying. The proposed controller, which is not necessary to have the state-observer, overcomes such difficulties. Using matrix inequality conditions on the terminal weighting matrix, the closed-loop system stability is guaranteed. Numerical examples are ...

• The Journal of the Korea institute of electronic communication sciences
• /
• v.19 no.4
• /
• pp.661-668
• /
• 2024

Based on the topology of the direct-drive permanent magnet synchronous wind power grid-connected system based on the power electronics full-power converter, the wind turbine model and the grid-side inverter model were studied, and the machine-side rectifier control based on current and speed double closed loops was designed. strategy, as well as a grid-side inverter control strategy based on current and voltage double closed loops, implementing a two-level back-to-back double closed-loop full control strategy. A system simulation model was built using Matlab/Simulink, and the operation of the unit was simulated when the wind speed changed step by step. The grid-connected current with the same phase and good sinusoidal nature of the grid voltage was output. The grid-connected system ran stably and efficiently. The simulation results The validity and rationality of the model, as well as the correctness and feasibility of the control strategy were verified.

• Journal of Power Electronics
• /
• v.18 no.6
• /
• pp.1844-1854
• /
• 2018

Isolated power systems (IPS) are often characterized by a weak grid due to small power grids. The grid side voltage is no longer equivalent to an ideal voltage source of an infinitely big power grid. The conversion control of new energy sources, parameter perturbations as well as the load itself can easily cause the system voltage to oscillate or to become unstable. To solve this problem, increasing the energy-storage power sources is usually used to improve the reliability of a system. In order to provide support for the voltage, the energy-storage power source inverter needs an method to control the voltage source. Therefore, this paper has proposed the active damping control of a voltage source inverter (VSI) based on virtual compensation. By simplifying the VSI double closed-loop control, two feedback compensation channels have been constructed to reduce the VSI output impedance without changing the characteristics of the voltage gain of a system. This improvement allows systems to operate stably in a larger range. A frequency-domain analysis, and simulation and experimental results demonstrate the feasibility and effectiveness of the proposed method.

• Journal of Information Processing Systems
• /
• v.15 no.3
• /
• pp.593-603
• /
• 2019

In wearable healthcare systems, sensor devices can be deployed in places around the human body such as the stomach, back, arms, and legs. The sensors use tiny batteries, which have limited resources, and old sensor batteries must be replaced with new batteries. It is difficult to deploy sensor devices directly into the human body. Therefore, instead of replacing sensor batteries, increasing the lifetime of sensor devices is more efficient. A transmission power control (TPC) algorithm is a representative technique to increase the lifetime of sensor devices. Sensor devices using a TPC algorithm control their transmission power level (TPL) to reduce battery energy consumption. The TPC algorithm operates on a closed-loop mechanism that consists of two parts, such as sensor and sink devices. Most previous research considered only the sink part of devices in the closed-loop. If we consider both the sensor and sink parts of a closed-loop mechanism, sensor devices reduce energy consumption more than previous systems that only consider the sensor part. In this paper, we propose a new approach to consider both the sensor and sink as part of a closed-loop mechanism for efficient energy management of sensor devices. Our proposed approach judges the current channel condition based on the values of various body sensors. If the current channel is not optimal, sensor devices maintain their current TPL without communication to save the sensor's batteries. Otherwise, they find an optimal TPL. To compare performance with other TPC algorithms, we implemented a TPC algorithm and embedded it into sensor devices. Our experimental results show that our new algorithm is better than other TPC algorithms, such as linear, binary, hybrid, and ATPC.