• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.864-867
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• 2003

In this study, a controller which has a feedforward controller and two additional PI integrators was designed. But if a controller is used by only the integration of a feedforward controller and two additional PI integrators, the capability of a controller will decrease because the decoupling terms of current is feedback as the disturbance. Therefore the feedforward method with the decoupling compensation was proposed. The two additional PI integrators were replaced by two decoupling terms to simplify the calculation. The simulation and experimental using SynRM driving system were performed to verify the design of a improved decoupling feedforward controller.

• 대한전기학회논문지
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• 제41권4호
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• pp.355-361
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• 1992

In this paper, some rules for auto- tuning of feedback-feedforward controller in variable load and disturbance are presented. The parameters of feedback PID controller are determined by heuristic rules based on input regulation experiment, and the parameters of feedforward controller are determined by result rules based on spectral factorization, minimum variance, and polynomial equation. These heuristic and result rules are used as an element of the feedback loop in an auto-tuning feedback-feedforward controller. The robust and accurate control performance is demonstrated by computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1981-1986
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• 2004

In this study, the basic motor control system had been investigated. The controller for this study consists of two main parts, a feedforward controller part and a feedback controller part. Each part will deals with different control problems. The feedback controller deals with robustness and stability, while the feedforward controller deals with response speed. The feedforward controller, used to solve the tracking control problem, is adaptable. To make such a tracking perfect, an adaptive law based on Feedback Error Learning (FEL) is designed so that the feedforward controller becomes an inverse system of the controlled plant. The novelty of FEL method lies in its use of feedback error as a teaching signal for learning the inverse model. The theory in $H^{\infty}$-Control is selected to be applied in the feedback part to guarantee the stability and solve the robust stabilization problems. The simulation of each individual part and the integrated one are taken to clarify the study.

• 소음진동
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• 제9권1호
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• pp.33-41
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• 1999

This paper presents a method of actively controlling the interior noise by a trim panel with hybrid feedforward-feedback control loop. The control technique is designed to minimize the vibration of panel whose motion is limited to that of a piston (out-of-plane motion). The hybrid controller consists of an adaptive feedforward controller in conjunction with a linear quadratic Gaussian (LQG) feedback controller. In order to maintain control performance of both persistent and transient disturbances, the feedback loop speeds up the adaptation rate of feedforward controller by improving damping capacity of secondary plant related with the adaptation rule. Numerical simulation and experimental result indicate that the hybrid controller is a more effective method for reducing the vibration of the panel (and therefore the interior noise) compared to using feedforward controller.

• 제어로봇시스템학회논문지
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• 제10권7호
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• pp.590-596
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• 2004

A passivity-based dynamic output feedback controller design is considered for a finite collection of non-square linear systems. Design of a single controller for a set of plants i.e. simultaneous stabilization is an important issue in the area of robust control design. We first determine a squaring gain matrix and an additional dynamics that is connected to the systems in a feedforward way, then a static passivating control law is designed. Consequently, the actual feedback controller will be the static control law combined with the feedforward dynamics. A necessary and sufficient condition for the existence of the parallel feedforward compensator is given by the static output feedback formulation. In contrast to the previous result [1], a technical condition for constructing the parallel feedforward compensator is removed by proposing a new type of the parallel compensator.

• 소음진동
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• 제4권4호
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• pp.497-505
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• 1994

This paper presents a design scheme of the active noise absorber that consists of the feedforward and feedback controller. The feedback controller aims to increase damping for the specific acoustic mode. The feedforward controller synthesizes the input signal coherent with the primary noise source in order to attenuate the noise field in the broad frequency range. The feedforward controller is adapted to the variation of acoustic plants using the proposed algorithm which compensates the effect of feedback link. Experimental results demonstrate that the proposed method is effective for the active control of band-limited noise fields in the enclosure.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1911-1916
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• 2005

In this study, the basic motor control system had been investigated. The Discrete-Time Feedback Error Learning (DTFEL) method is used to control this system. This method is anologous to the original continuous-time version Feedback Error Learning(FEL) control which is proposed as a control model of cerebellum in the field of computational neuroscience. The DTFEL controller consists of two main parts, a feedforward controller part and a feedback controller part. Each part will deals with different control problems. The feedback controller deals with robustness and stability, while the feedforward controller deals with response speed. The feedforward controller, used to solve the tracking control problem, is adaptable. To make such the tracking perfect, the adaptive law is designed so that the feedforward controller becomes an inverse system of the controlled plant. The novelty of FEL method lies in its use of feedback error as a teaching signal for learning the inverse model. The PD control theory is selected to be applied in the feedback part to guarantee the stability and solve the robust stabilization problems. The simulation of each individual part and the integrated one are taken to clarify the study.

• 전자공학회논문지B
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• 제33B권2호
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• pp.140-148
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• 1996

This paper proposes a combined feedforward/feedback controller which uses jacobians of neural network. The jacobians are calculated form the neural network that identifies the nonlinear plant, which are used for designing a jacobian controller and for training a neural network controller. Normally, it takes much time to train the neural network controller. Combining the neural and the jacobian controller, it can be a stable controller from the beginning of training phase of neural network, and it can be implemented as a learning-while-functioning controller. Simulated resutls for the proposed controller show its effectiveness and better performances.

• 전자공학회논문지B
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• 제33B권12호
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• pp.95-105
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• 1996

This paper presents structure optimization of a feedforward neural netowrk controller using the genetic algorithm. It is important to design the neural network with minimum structure for fast response and learning. To minimize the structure of the feedforward neural network, a genralization of multilayer neural netowrks, the genetic algorithm uses binary coding for the structure and floating-point coding for weights. Local search with an on-line learnign algorithm enhances the search performance and reduce the time for global search of the genetic algorithm. The relative fitness defined as the multiplication of the error and node functions prevents from premature convergence. The feedforward neural controller of smaller size outperformed conventional multilayer perceptron network controller.

• 한국정밀공학회지
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• 제15권4호
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• pp.83-90
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• 1998

In this paper, we present neural network for control of Left Ventricular Assist Device(LVAD) system with a pneumatically driven mock circulation system. Beat rate(BR), Systole-Diastole Rate(SDR) and flow rate are collected as the main variables of the LVAD system. System modeling is completed using the neural network with input variables(BR, SBR, their derivatives, actual flow) and output variable(actual flow). It is necessary to apply high perfomance control techniques, since the LVAD system represent nonlinear and time-varing characteristics. Fortunately. the neural network can be applied to control of a nonlinear dynamic system by learning capability In this study, we identify the LVAD system with neural network and control the LVAD system by PID controller and neural network feedforward controller. The ability and effectiveness of controlling the LVAD system using the proposed algorithm will be demonstrated by experiment.