• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1501-1502
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• 2008

제어대상 시스템에 시간지연과 외란이 동시에 존재하는 경우, 스미스 예측기와 외란 관측기를 함께 사용하면 시간지연과 외란으로 인한 시스템의 성능저하를 완화할 수 있다. 하지만 시간지연이 유동적인 경우에는 설계된 스미스 예측기와 외란 관측기의 역할을 기대하기 어렵다. 본 논문은 시간지연을 갖는 2차 시스템 모델링 기법에 기반한 PID 제어기를 이용하여 시간 지연의 유동성에 대해 스미스 예측기와 외란 관측기의 강인성을 향상시키는 방법을 제안한다.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1614-1619
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• 2003

In this study, position and force simultaneous trajectory tracking control system with pneumatic cylinder driving apparatus is proposed. The pneumatic cylinder driving apparatus that consists of two pneumatic cylinders constrained in series and two proportional flow control valves offers a considerable advantage as to non-interaction of the actuators because of the low stiffness of the pneumatic cylinders. The controller applied to the driving system is composed of a non-interaction controller to compensate for interaction of two cylinders and a disturbance observer to reduce the effect of model discrepancy of the driving system in the low frequency range that cannot be suppressed by the non-interaction controller. The experimental results with the proposed control system show that the interacting effects of two cylinders are eliminated remarkably and the proposed control system tracks the given position and force trajectories accurately.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.1-1
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• 2000

본 논문에서는 3축이 연성되어 비선형 운동 방정식으로 표현되는 3축 안정화 인공위성 시스뎀에 입릭외란과 시스템의 불확실성이 존재할 경우에도 자제 정밀도를 유지하는 제어기를 설계한다. 비선헝 운동 방정식으로 표현되는 운동 방정식을 선형화하고 PID제어기를 구성하였다 선형화에 의한 시스템의 불확실성과 입력 외란을 신경회로망으로 추정하여 외란의 엉향을 제거하도록 구성된 PR제어기의 제어입력을 수정한다 수정된 제어입력은 외란을 상쇠시켜 시스템 출력에서 외란의 효과를 제거하게 된다. 신경회로망은 제어입력과 시스템 출력, 기준 운동 방정식간의 관계를 이용하여 외간과 시스템의 불확실성을 추정하며, 역전파 알고리즘을 사용한 학습 알고리즘으로 신경 회로망을 교육한다. 제안된 신경회로망을 이용한 외란 제거 제어기는 시뮬레이션을 통하여 자세 정밀도의 향상을 검증한다

• Journal of Power System Engineering
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• v.7 no.3
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• pp.40-47
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• 2003

In this study, position and force simultaneous trajectory tracking control apparatus with pneumatic cylinder driving system is proposed. The pneumatic cylinder driving system that consists of two pneumatic cylinders constrained in series and two proportional flow control valves offers a considerable advantage as to non-interaction of the actuators because of the low stiffness of the pneumatic actuators. The controller applied to the driving system is composed of a non-interaction controller to compensate for interaction of two cylinders and a disturbance observer to reduce the effect of model discrepancy of the driving system in the low frequency range that cannot be suppressed by the non-interaction controller. The experimental results with the proposed control apparatus show that the interacting effects of two cylinders are eliminated remarkably and the proposed control apparatus tracks the given position and force trajectory accurately.

• Journal of the Optical Society of Korea
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• v.10 no.4
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• pp.174-177
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• 2006

We propose a new technique to minimize gain-transient time of wavelength-division-multiplexing (WDM) signals in erbium-doped fiber amplifiers (EDFA) in channel add/drop networks. We have dramatically reduced the gain-transient time to less than $3{\mu}sec$ by applying, for the first time to our knowledge, a disturbance observer with a proportional/integral/differential (PID) controller to the control of EDFA gain. The $3{\mu}sec$ gain-transient time is the fastest one ever reported and it is approximately less than 1.5% of $200{\mu}sec$ gain-transient time of commercially available EDFAs for WDM networks. We have demonstrated the superiority of the new technique by performing the simulation with a numerical modeling software package such as the $Optsim^{TM}$.

• Journal of the Korean Society for Railway
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• v.6 no.4
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• pp.257-264
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• 2003

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a re-adhesion control algorithm which uses the maximum adhesive effort by instantaneous estimation of adhesion force using load torque disturbance observer. Based on this estimated adhesive effort, the re-adhesion control is performed to obtain the maximum transfer of the tractive effort.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.51-52
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• 2007

이 논문에서는 다중입출력 선형 시스템에 대한 외란 관측기설계 방법을 제안하고자 한다. 제안된 방법을 특이 섭동(Singular Perturbation) 이론을 사용하여 해석하며, 그 결과 Q 필터의 상수가 매우 작다면 외란 제거와 시스템 불확실성에 대한 보상을 통하여 실제 시스템을 공칭 시스템으로 근사화 시켜주는 것을 볼 수 있다.

• 전기의세계
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• v.29 no.10
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• pp.667-677
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• 1980

A new approach for optimal decentralized load-frequency control in a multi-area interconnected power system is presented, which includes the optimal determination of decentralized load-frequency controller, observer for unmeasurable local states and load disturbances, quadratic estimator for tie-line power flow information transmitted at intervals. The optimal design of the decentralized controller is based on a modified application of the singular perturbation theory, and the decentralized Luenberger obeserver uses techniques of state augmentation for exponential disturbance functions and the representation of tie-line power flow states as non-directly-controlled inputs. The approach presented herein is numerically tested through Elgerd's two-area load-frequency system model, and the results demonstrate remarkable advantages over the conventional ones.

• Proceedings of the KSR Conference
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• 2003.05a
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• pp.427-432
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• 2003

The control method of programmable dynamometer for overall test of machine is to load the reference torque which is computed from torque transducer into motor under test. But the torque information detected from torque transducer have a lot of noise when the load torque of moter is a small quantity or changing. Thus, torque transducer must have a low pass filter to detect a definite torque information. But The torque delay generated by filter with torque transducer occur a torque trouble for meter torque of programmable dynamometer. The proposed system improved the problem of the torque measuring delay with torque transducer, and the load torque is estimated by the minimal order state observer based on the torque component of the vector control induction meter. Therefore, the torque controller is not affected by a load torque disturbance.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.141-146
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• 1998

This paper presents a scheme to actively control the vertical vibration of aerial vehicles due to the disturbances such as the sudden change of derricking angle and the external forces by using a small plunger attached to the derricking cylinder. Simulations show that the 1st mode vibration is suppressed efficiently by the proposed method without exciting the higher modes' vibration. Detailed mathematical model of the aerial vehicle, its vibration characteristics, detection method of the 1st mode vibration and the controller design based on the lag-element and the disturbance observer are described.