• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.397-402
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• 2016

This paper proposes a robust tracking control for constrained uncertain linear systems by combining a disturbance observer (DOB) and linear matrix inequality (LMI) based state feedback control. To this end, the state feedback control is designed for the nominal system and then a DOB based feed-forward control is added to reject uncertainties. In doing so, the DOB and state feedback controller are joined in a way that the combined control satisfies the input constraints and closed loop stability is guaranteed. Simulation results are provided to show that the proposed control scheme successfully stabilizes uncertain systems.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.627-628
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• 2006

A low-voltage switched-capacitor $2^{nd}$-order $\Sigma\Delta$ modulator using full feed-forward is introduced. It has two advantages: the unity signal transfer function and reduced signal swings inside the $\Sigma\Delta$ loop. These features greatly relax the DC gain and output swing requirements for Op-Amp in the low-voltage $\Sigma\Delta$ modulator. Implemented by a 0.18-${\mu}m$ CMOS technology, the $\Sigma\Delta$ modulator satisfies performance requirements for WCDMA and CDMA2000 standards.

• 대한전자공학회논문지SD
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• 제42권2호
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• pp.23-30
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• 2005

이 논문에서는 낮은 stand-by power 및 DLL의 재동작 후 fast relocking 구조를 가지는 저전력, 고속 VISI 칩용 DLL(지연 고정 루프) 기반의 다중 클락 발생기를 제안하였다. 제안된 구조는 주파수 곱셈기를 이용하여 주파수 체배가 가능하며 시스템 클락의 듀티비에 상관없이 항상 50:50 듀티비를 위한 Duty-Cycle Correction 구조를 가지고 있다. 또한 DAC를 이용한 디지털 컨트롤 구조를 클락 시스템이 standby-mode에서 operation-mode 전환 후 빠른 relocking 동작을 보장하고 아날로그 locking 정보를 레지스터에 디지털 코드로 저장하기 위해 사용하였다. 클락 multiplication을 위한 주파수 곱셈기 구조로는 multiphase를 이용한 feed-forward duty correction 구조를 이용하여 지연 시간 없이 phase mixing으로 출력 클락의 duty error를 보정하도록 설계하였다. 본 논문에서 제안된 DLL 기반 다중 클락 발생기는 I/O 데이터 통신을 위한 외부 클락의 동기 클락과 여러 IP들을 위한 고속 및 저속 동작의 다중 클락을 제공한다. 제안된 DLL기반의 다중 클락 발생기는 $0.35-{\mu}m$ CMOS 공정으로 $1796{\mu}m\times654{\mu}m$ 면적을 가지며 동작 전압 2.3v에서 $75MHz\~550MHz$ lock 범위와 800 MHz의 최대 multiplication 주파수를 가지고 20psec 이하의 static skew를 가지도록 설계되었다.

• International Journal of Aeronautical and Space Sciences
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• 제16권2호
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• pp.278-294
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• 2015

Considering the guidance and control problem of the near space interceptor (NSI) during the terminal course, this paper proposes a three-channel independent integrated guidance and control (IGC) scheme based on the backstepping sliding mode and finite time disturbance observer (FTDO). Initially, the three-channel independent IGC model is constructed based on the interceptor-target relative motion and nonlinear dynamic model of the interceptor, in which the channel coupling term and external disturbance are regarded as the total disturbances of the corresponding channel. Then, the FTDO is introduced to estimate the target acceleration and control system loop disturbances, and the feed-forward compensation term based on the estimated values is employed to effectively remove the effect of disturbances in finite time. Subsequently, the IGC algorithm based on the backstepping sliding mode is also given to obtain the virtual control moment. Furthermore, a robust least-squares weighted control allocation (RLSWCA) algorithm is employed to distribute the previous virtual control moment among the corresponding aerodynamic fins and reaction jets, which also takes into account the uncertainty in the control effectiveness matrix. Finally, simulation results show that the proposed IGC method can obtain the small miss distance and smooth interceptor trajectories.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1596-1600
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• 2000

We propose a novel adaptive feed forward controller (AFC) design method for rejecting the effect of micro actuator resonance in the design of dual-stage actuator servo systems for disk drives. Microactuator's resonance is one of important issues in dual-stage actuator servo, which varies up to ${\pm}10%$ per product and even during operation. We derive an adaptive algorithm for the proposed AFC design, which turns out to be identical to the delayed-x LMS algorithm which is a special form of the filtered-x LMS algorithm. In the algorithm, coefficients of the AFC are adapted by the residuals of constrained structure defined in such a way that the coefficients become time invariant. Contrary to the conventional AFC, it considers the phase delay of closed-loop transfer function at resonance frequency for system stability. We also apply an adaptive algorithm with frequency tracking capability. The frequency tracking algorithm is induced by the orthogonality of AFC coefficients. Computer simulations are carried out to demonstrate effect of the proposed AFCs.

• 융합신호처리학회논문지
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• 제3권4호
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• pp.49-56
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• 2002

본 논문에서는 기존의 PDFF 제어기에 비선형 보상기를 적용한 위치제어에 대하여 기술한다. 이 방법은 기존의 방법보다 주어진 사양을 쉽게 만족시킬 수 있다 제어기 설계에 있어서 위상 여유와 대역폭을 동시에 조절할 수 있는 개선된 PDFF 제어기를 제시한다. PDFF 제어기의 전향 보상항을 비선형 보상기(CDIDF 제어기)로 치환함으로서 폐루프시스템의 대역폭을 감소시키지 않으면서 원하는 위상여유를 얻는 것이다. 제시된 방법은 시뮬레이션과 실험을 통하여 확인된다 시뮬레이션 및 실험결과에 따라 CDIDF 제어기를 사용한 개선된 PDFF 시스템에서는 제어기의 파라미터를 적절히 설정함으로서 전반적인 설계사양을 만족시키는 것이 확인된다.

• 전기학회논문지
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• 제59권11호
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• pp.2073-2082
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• 2010

The 4-th generation of mobile communication aims to realize global, fast and mobile communication service. The satellite communication charges a key role in this field. In this study, an OTM(On-The-Move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite was addressed. Since vehicles move during communication, active antenna line-of-sight stabilization is a core technology to guarantee high satellite communication quality. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. Various disturbance torques such as static and dynamic mass imbalance torques, variation of moment of inertia according to elevation angle, friction torque related to vehicle motion, equivalent disturbance torque due to antenna roll motion, etc. were analyzed. As a robust stabilization control, rate feedback with sliding mode control and position feedback with proportional+integral control was suggested. To compensate antenna roll motion, a supplementary roll rate feed forward control was included beside of the feedback control loop. The feasibility of the analysis and the proposed control design were verified along with some simulation results.

• Journal of Power Electronics
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• 제15권4호
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• pp.1066-1073
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• 2015

This paper proposes a control strategy based on the frequency detection method, comprising a current control and a feed-forward voltage control loop, is proposed for grid-interactive power conditioning systems (PCS). For continuous provision of power to critical loads, PCS should be able to check grid outages instantaneously. Hence, proposed in the present paper are a frequency detection method for detecting abnormal grid conditions and a controller, which consists of a current controller and a feedforward voltage controller, for different operation modes. The frequency detection method can detect abnormal grid conditions accurately and quickly. The controller which has current and voltage control loops rapidly helps in load voltage regulation when grid fault occurs by changing reference and control modes. The proposed seamless transfer control strategy is confirmed by experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1489-1494
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• 2003

A neuromuscular control system of a myoelectric prosthetic hand (PH) constitutes a nonlinear system with a dead zone whose magnitude is equal to its joint angle when the PH just grasps an object. This is because the neuromuscular control system remains an open-loop system until the PH grasps the object but it constitutes a feedback control system after the PH griped the object in which a torque induced in the fingers of the PH is fed back. To improve the transient performance of the control system, it is desirable to make the feed-forward gain as large as possible, so long as the stability of the system is not impaired. It is also desired that the control system remains stable even when the PH lifts a heavy or rigid object, because this makes the closed loop gain large and leads to the closed system unstable. According to the theory of stability analysis of nonlinear systems, we can only know the sufficient conditions that the system should be stable. Thus the nonlinear theory on stability is insufficient to be used to design the neuromuscular control system for improving its transient responses. This paper shows that the nonlinear system with a dead zone can be approximated to a linear feedback system and that well-known methods of analysis and design on linear control systems can be applicable. It is also shown through various simulation results that errors induced by approximation are practically negligible and thus the design methods are quite accurate.

• 대한전자공학회논문지SD
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• 제46권3호
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• pp.51-59
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• 2009

본 논문에서는 어쿠스틱 센서 IC 용 연속 시간 시그마-델타 모듈레이터를 구현하였다. 모듈레이터의 전력 소모를 최소화하기 위해 summing 단의 필요성을 제거한 피드-포워드 (feed-forward) 구조로 설계 하였으며, 해상도를 높이기 위해 선형성이 우수한 active-RC 필터를 사용하여 설계 하였다. 또한 초과 루프 지연 시간 (excess loop delay)에 의한 성능 저하를 방지하기 위한 회로 기법을 제안 하였다. 저 전압, 고 해상도의 4차 단일 비트 연속 시간 시그마-델타 모듈레이터는 $0.13{\mu}m$ 1 poly 8 metal CMOS 표준 공정으로 제작하였으며 코어 크기는 $0.58\;mm^2$ 이다 시뮬레이션 결과 25 kHz 의 신호 대역 내에서 91.3 dB의 SNR(signal to noise ratio)을 얻었고 전체 전력 소모는 $290{\mu}W$ 임을 확인하였다.