• Title/Summary/Keyword: Control Robustness

Search Result 1,783, Processing Time 0.03 seconds

Design of Disturbance Observer Considering Robustness and Control Performance (2) : It's Application for Optical Disc Drive Servo System (강인성과 제어 성능을 고려한 외란 관측기의 설계 (2) : 광 디스크 드라이브 서보 시스템에의 적용 실험)

  • 김홍록;최영진;서일홍;정완균;박명관;이경호
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.9 no.4
    • /
    • pp.270-276
    • /
    • 2003
  • The disturbance observer (DOB) has been widely utilized fer high precision and high speed motion control application. However, it still lacks the analysis for the robustness brought by using DOB. This paper summarizes six guidelines for the design of DOB taking into account the robustness and control performance in case of the second order system. For effectiveness of the proposed guideline, the actual implementation and experimental results of the DOB is compared in the Optical Disk Drive(ODD) servo system. In the DVD player and DVD-ROM drive, the guidelines of DOB are useful, and the disturbance rejection performance is improved under the DOB system.

Comparative Study on the Stability and the Performance in Bilateral Teleoperation

  • Kim, Jin-Wook;Kim, Hyung-Wook;Yi, Byung-Ju;Suh, Il-Hong
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2001.10a
    • /
    • pp.51.1-51
    • /
    • 2001
  • Teleoperation is a rapidly progressing field promising to have significant application in space, mining, medical, and other areas. Unfortunately, significant communication delays are expected in teleoperation. With this problem, the two major issues in teleoperation are stability robustness and transparency performance. Recent work in bilateral teleoperation in the two-channel showed that for any two-channel control architecture, stability robustness is enhanced if the feedforward control parameters are lowered. In this paper, we analyze the stability and performance robustness of the three channels control architectures using the passivity-based Llewellyn´s absolute stability criterion as wall as the minimum values and Z-width´s of the operator and environment transmitted impedances. And the stability and the performance robustness of two and three channels control architectures are quantitatively compared.

  • PDF

LQ-servo design to command following and output-disturbance rejection (명령추종과 출력측 외란제거를 위한 LQ-servo 설계)

  • Yun, Seong-O;Suh, Byung-Suhl
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.3 no.5
    • /
    • pp.443-449
    • /
    • 1997
  • LQ-servo design procedure introduced by Athans is a method using a partial states feedback and an output feedback in order to improve the poor performance robustness of the LQR as well as to maintain its stability robustness. Although the method guarantees good stability robustness, it is not effective in performance robustness as it does not match the singular value at low or high frequencies of the transfer matrix obtained by breaking at the plant output. This paper intends propose of a new method, using the limited behaviour of the control gain introduced by Kwakernaak and Sivan, in order to improve it does it refer to controlga introduced by kwakernaak or the new metho Anblguouls.

  • PDF

A Robust Eigenstructure Assignment Method with Application to EMRAAT Missile Control Design (견실성을 고려한 고유구조 지정기법 및 EMRAAT 미사일 제어에의 응용)

  • Kim, Joo-Ho;Park, Jae-Weon
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.6 no.10
    • /
    • pp.845-853
    • /
    • 2000
  • In this paper, we introduce a relationship between the sensitivity and the robustness of a system, and we propose a robust eigenstructure assignment scheme using a novel performance index which can consider the performance and the robustness of the system simultaneously. We also propose an assignment accuracy measure and a robustness measure which are used for the performance examination of the proposed robust eigenstructure assignment scheme. The usefulness of the proposed algorithm and the measures are verified by applying to controller design of a simple numerical example and the EMRAAT missile.

  • PDF

ADAPTIVE FDI FOR AUTOMOTIVE ENGINE AIR PATH AND ROBUSTNESS ASSESSMENT UNDER CLOSED-LOOP CONTROL

  • Sangha, M.S.;Yu, D.L.;Gomm, J.B.
    • International Journal of Automotive Technology
    • /
    • v.8 no.5
    • /
    • pp.637-650
    • /
    • 2007
  • A new on-line fault detection and isolation(FDI) scheme has been proposed for engines using an adaptive neural network classifier; this paper investigates the robustness of this scheme by evaluating in a wide range of operational modes. The neural classifier is made adaptive to cope with the significant parameter uncertainty, disturbances, and environmental changes. The developed scheme is capable of diagnosing faults in the on-line mode and can be directly implemented in an on-board diagnosis system(hardware). The robustness of the FDI for the closed-loop system with crankshaft speed feedback is investigated by testing it for a wide range of operational modes, including robustness against fixed and sinusoidal throttle angle inputs, change in load, change in an engine parameter, and all changes occurring simultaneously. The evaluations are performed using a mean value engine model(MVEM), which is a widely used benchmark model for engine control system and FDI system design. The simulation results confirm the robustness of the proposed method for various uncertainties and disturbances.

A study on robustness of automatic seam tracking system (용접선 자동추적장치의 강인성에 관한 연구)

  • 강희신;조택동;양상민
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1996.10b
    • /
    • pp.775-778
    • /
    • 1996
  • In this research, the robustness of a seam tracking for the automatic welding system is studied. The laser displacement sensor is used as a seam finder. X-Y moving table drived by ac servo motor controls the position and velocity of the torch-and-sensor part. However, dc servo motor is used to control the position and velocity of the torch. The sensor locates ahead of torch to preview the weld line, and brings about the inaccuracy on the torch tracking. To enhance the robustness on this system against the influence of disturbances and model uncertainty, H$\_$.inf./ control is applied to the angular motion of torch. The simulation shows that the tracking accuracy improved significantly. Also, experimental results give a good performance of H$\_$.inf./ control strategy to the automatic seam tracking system for the welding.

  • PDF

Expert Supervisory Control for Robustness of D.C. Servo Motor Control (직류 서보 전동기 제어의 강인성을 위한 전문가 관리 제어)

  • Oh, Hun;Park, Wal-Seo
    • The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
    • /
    • v.9 no.6
    • /
    • pp.78-82
    • /
    • 1995
  • It is needed to robust control for D.C. servo motor according to industrial automation. However, when a motor has an effect of disturbance and variable load, it is very difficult to guarantee the robustness of the system. as a compensation way of solving this problem, in this paper, a expert supervisory control method for motor control system is presented. Expert supervisory controller is designed by error and error change, and nth control input is decided by the addition of (n-1)th control input and inference amount of increase or decrease. Control input of expert supervisory control is transmitted to input, and the disturbance effect decrease remarkable by control input. The robustness of D.C. servo motor using expert supervisory control is demonstrated by the computer simulation.

  • PDF

A position control of step motor with minimum time sliding surface (최단시간 슬라이딩 면에 의한 스텝모터의 위치제어)

  • You, Wan-Sik;Park, Hyung-Nam;Kim, Yeong-Seok
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.1 no.2
    • /
    • pp.99-104
    • /
    • 1995
  • For the robust control, sliding mode control has gained a great attention. Sliding mode control has the good robustness, because it makes the state of system reach the origin of the state space, by a varying the structure of system on the sliding surface. The slope of sliding surface affects to the control performance. If it is small, robustness is increased at the expense of reaching time. On the contrary, if it is large, reaching time is decreased at the expense of robustness and overshoot. In this paper, to design the optimal sliding surface, optimal control theory is introduced. To confirm the validity of the proposed method, the position control of step motor is implemented.

  • PDF

Theoretical and experimental study of robustness based design of single-layer grid structures

  • Wu, Hui;Zhang, Cheng;Gao, Bo-Qing;Ye, Jun
    • Structural Engineering and Mechanics
    • /
    • v.52 no.1
    • /
    • pp.19-33
    • /
    • 2014
  • Structural robustness refers to the ability of a structure to avoid disproportionate consequences to the original cause. Currently attentions focus on the concepts of structural robustness, and discussions on methods of robustness based structural design are rare. Firstly, taking basis in robust $H_{\infty}$ control theory, structural robustness is assessed by $H_{\infty}$ norm of the system transfer function. Then using the SIMP material model, robustness based design of grid structures is formulated as a continuum topology optimization problem, where the relative density of each element and structural robustness are considered as the design variable and the optimization objective respectively. Generalized elitist genetic algorithm is used to solve the optimization problem. As examples, robustness configurations of plane stress model and the rectangular hyperbolic shell model were obtained by robustness based structural design. Finally, two models of single-layer grid structures were designed by conventional and robustness based method respectively. Different interference scenarios were simulated by static and impact experiments, and robustness of the models were analyzed and compared. The results show that the $H_{\infty}$ structural robustness index can indicate whether the structural response is proportional to the original cause. Robustness based structural design improves structural robustness effectively, and it can provide a conceptual design in the initial stage of structural design.