• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.385-390
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• 1993

It is the purpose of this paper to present a dialogical tuning method of the sampling period in fuzzy control systems. Last year, the authors gave a dialogical tuning technique of fuzzy control system under the fixed sampling period in this symposium. In the case where sampling period is chosen larger, the response of the control system is unsatisfactory, and in the case where the sampling period is smaller, ineffective control actions are repeated. The appropriate sampling period is chosen through the step response of the closed loop fuzzy control process. As the tuning technique depends on the controlled plant, it is necessary to estimate the rough characteristics of it. The authors propose a method to decide th appropriate sampling period, by inspecting the characteristics of the plant.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.147.3-147
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• 2001

We have proposed a digital control method, where the controlled variable is a joint angular velocity, of space robot manipulators using the transpose of Generalized Jacobian Matrix. The explicit relationship between the control law and the sampling period, however, is unknown because the controller gains include the sampling period implicitly. This paper presents a novel digital control method which explicitly describes the relation between the sampling period and the controller gains. Computer simulation of a 3-DOF planar space robot manipulator is peformed. Simulation result demonstrates the effctiveness of the proposed method.

• Nuclear Engineering and Technology
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• v.27 no.1
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• pp.8-17
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• 1995

A great effort has been made to improve the nuclear plant control system by use of digital technologies, and a long term schedule for the control system upgrade has been prepared with an aim to implementation in the next generation nuclear plane. In case of digital control system, it is important to decide the sampling period for analysis and design of the system, because the performance and the stability of a digital control system depend on the value of the sampling period of the digital control system. There is, however, currently no systematic method used universally for determining the sampling period of the digital control system. Generally, a traditional way to select the sampling frequency is to use 20 to 30 times the bandwidth of the analog control system which has the same system configuration and parameters as the digital one. In this paper, a new method to select the sampling period is suggested which takes into account of the performance as well as the stability of the digital control system. By use of the frying's model of steam generator, the optimal sampling period of an assumptive digital control system for steam generator level control is estimated and is actually verified in the digital control simulation system for KORI-2 nuclear power plant steam generator level control. Consequently, we conclude the optimal sampling period of the digital control system for KORI-2 nuclear power plant steam generator level control is 1 second for all power ranges.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.53 no.3
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• pp.206-211
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• 2004

In phase controlled rectifier, it's been known that a fast response is achieved by predictive current control without any overshoot. The frequent sampling period is essential to improve the firing accuracy in conventional predict current control. However, improving the firing accuracy if difficult to reduce the period of sampling efficiently because current sampling and predictive current control is carried out in every period and the ON-OFF current control is performed by comparing two different one. To improve the firing accuracy at the predictive current control, the calculated firing angle is loaded into the high-accuracy hardware timer. So the calculation of exact crossing point between the predictive and actual current is the most important. In this paper, the flow chart for proposed firing angle calculation algorithm is obtained for the fastest current control performance in transient state. The performance of proposed algorithm is verified through simulations and experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.245-248
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• 2010

Almost all of control schemes proposed so far have been designed in the continuous-time domain theoretically. Actual systems, however, have been implemented in the discrete-time domain since Micro Control Unit(MCU) and/or microprocessors have been used for the controllers. Thus, the overall system turned to be a sampled-data system, and generally speaking, the ultimate error cannot converge to zero in the actual system even though the proposed control algorithm showed the asymptotic stability in the continuous-time domain. In this paper, therefore, the ultimate error bound of a sampled data system with a short sampling period has been investigated. The ultimate error is shown to be related in the sampling period.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.5
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• pp.875-880
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• 2008

In this paper, a novel method to determine the optimal checkpoint interval for real-time control task is proposed considering its performance degradation according to tasks's execution time. The control task in this paper has a specific sampling period shorter than its deadline. Control performance is degraded as the control task execution time is prolonged across the sampling period and eventually zero when reached to the deadline. A new performance index is defined to represent the performance variation due to the extension of task execution time accompanying rollback fault recovery. The procedure to find the optimal checkpoint interval is addressed and several simulation examples are presented.

• Journal of the Earthquake Engineering Society of Korea
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• v.13 no.4
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• pp.67-76
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• 2009

Recently, the active interaction control (AIC) system was proposed as a semi-active control system. The AIC system consists of a primary structure and an auxiliary structure. The objective of the AIC system is to control the response of the primary structure through engagement and disengagement between the primary and auxiliary structures. Previous switching control algorithms have been shown to be effective in reducing the response of the primary structure. However, they have the main drawback of requiring an excessive engagement-disengagement frequency and high interaction force. In this paper, the regions in which the switching is activated and the regions in which the switching is deactivated are described separately, to effectively determine the engagement or the disengagement. The general relationship between the switching regions and the deactivated switching regions selected according to the engagement-disengagement conditions is described within the newly-developed comprehensive switching framework. The proposed engagement-disengagement conditions are designed within a comprehensive switching framework, to reduce engagement-disengagement frequency and interaction force. Furthermore, the effect of a control sampling period on the AIC system is explained in terms of the engagement-disengagement frequency. The effectiveness of the proposed algorithms and the effect of the control sampling period are considered for a single degree of freedom model under free vibration. It is observed that increasing the duration of stay by using a large control sampling period prevents the AIC system from activating the possible chance of switching. The proposed algorithms are shown to be effective, both in restricting ineffective switching and in reducing interaction force.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.2
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• pp.123-130
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• 1999

In discrete-time controlled system, sampling time is one of the critical parameters for control performance. It is useful to employ different sampling rates into the system considering the feasibility of measuring system or actuating system. The systems with the different sampling rates in their input and output channels are named multirate system. Even though the original continuous-time system is time-invariant, it is realized as time-varying state equation depending on multirate sampling mechanism. By means of the augmentation of the inputs and the outputs over one period, the time-varying system equation can be constructed into the time-invariant equation. The two multirate formulations have some trade-offs in the simplicity to construct the controller, the control performance. It is good issue to determine the suitable formulation in consideration of performance of them. In this paper, the two categories of multirate formulations will be compared in terms of the linear quadratic (LQ) cost function. The results are used to select the multirate formulation and the sampling rates suitable to the desired control performance.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.2
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• pp.131-138
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• 1999

In discrete-time controlled system, sampling time is one of the critical parameters for control performance. It is useful to employ different sampling rates into the system considering the feasibility of measuring system or actuating system. The systems with the different sampling rates in their input and output channels are named multirate system. Even though the original continuous-time system is time-invariant, it is realized as time-varying state equation depending on multirate sampling mechanism. By means of the augmentation of the inputs and the outputs over one Period, the time-varying system equation can be constructed into the time-invariant equation. In this paper, an alternative time-invariant model is proposed, the design method and the stability of the LQG (Linear Quadratic Gaussian) control scheme for the realization are presented. The realization is flexible to construct to the sampling rate variations, the closed-loop system is shown to be asymptotically stable even in the inter-sampling intervals and it has smaller computation in on-line control loop than the previous time-invariant realizations.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.47.2-47
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• 2001

This paper is concerned with the limiting zeros, as the sampling period tends to zero, of a multivariable discrete-time system composed of an approximate fractional-order hold (AFROH), a continuous-time plant and a sampler in cascade. An approximate fractional-order hold is proposed to implement fractional-order hold (FROH) and is applied to instead of the zero-order hold (ZOH). The implementing problem of the fractional-order hold is overcome. The properties of the limiting zeros are studied and the location problem of them is solved. In addition, a stability condition of the zeros for sufficiently small sampling period is derived ...