• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.20 no.2
• /
• pp.129-137
• /
• 2010

This paper presents a position tracking control of a flexible beam using the piezoelectric actuator. This is achieved by implementing both feedforward hysteretic compensator of the actuator and PID feedback controller. The Preisach model is adopted to develop the feedforward hysteretic compensator. In the design of the compensator, estimated displacement of the piezoceramic actuator is used based on the limiting triangle database that results from collecting data of the main reversal curve and the first order ascending curves. Experimental implementation is conducted for position tracking control and performance comparison is made between a PID feedback controller without considering the effect of hysteresis, and a PID feedback controller integrated with the feedforward hysteretic compensator.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.11a
• /
• pp.189-193
• /
• 1996

Piezoelectric actuator is widely used in precision positioning applications due to its excellent positioning resolution. However, serious hysteresis nonlinearity of the actuator deteriorates its open loop positioning capability. Generally, a nonlinear hysteresis model is used in feedforward loop to improve positioning accuracy. In this study, however, a simple lead compensator is proposed as a substitution for a complex nonlinear hysteresis model and tested through experiments for precision position control.

• The Transactions of the Korean Institute of Electrical Engineers C
• /
• v.48 no.2
• /
• pp.153-160
• /
• 1999

Dual-stage servo system for super-high density HDD has the chances of being composed of the coarse actuator(VCM) for track-seeking control and the fine actuator(microactuator) for-following control in near future. This paper presents the concept design of dual-stage servo system and the track-following control using an electrostatic microactuator for super-high density HDD. The electrostatic microactuator is designed and fabricated by MEMS(micro-electro-mechanical system) process. Both the nonlinear plant(voltage/displacement-to-electrostatic force) and the linear plant(electrostatic force-to-displacement) of the microactuator are established. Inverse function of the nonlinear plant is employed for a feedforward nonlinear compensator design. And feedforward control effect of this compensator is shown by time-domain experiments. A track-following feedback controller is designed using the feedback nonlinear compensator which is derived from the feedforward nonlinear compensator. The track-following control experiment is done to show the control efficiency of the proposed control system. And, excellent track-following control performance(2.21kHz servo-bandwidth, 7.51dB gain margin, $50.98^{\circ}$phase margin) is achieved by the proposed control system.

• Proceedings of the KIEE Conference
• /
• 1998.07b
• /
• pp.407-409
• /
• 1998

In order to improve the tracking performance of $2{\times}2$ multivariable control systems, a fuzzy control algorithm with feedforward compensator is represented. The method consists in two steps. First, neglecting interconnections. one designs a fuzzy controller to each individual loop. In the second stage, low-order transfer functions of outputs to reference inputs are estimated. We propose a design method of the feed forward compensator based on the transfer functions. An illustrative example are shown.

• Journal of the Korean Society for Precision Engineering
• /
• v.20 no.3
• /
• pp.89-96
• /
• 2003

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear abetments, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable but also accurate trajectory control for the autonomous assembly tasks using hydraulic manipulators. In this report, we propose a two-degree-of-freedom control including parallel feedforward compensator (PFC) where PFC plays a very important role in the stability of a proposed control system. In the experimental results of the 6-link electro hydraulic manipulator, it is verified that the stability and the model matching performance are improved by using the proposed control method.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.4 no.3
• /
• pp.268-274
• /
• 1999

The problem of power factor and hmmonics are occurred in convelter system which used to SCRs and diodes as p power semiconductor devices. IGBT power device with selh:ommutation type was solved that problem. maintain the l input line current with sinusoidal wave CUlTent of input power source voltage. It was estimated that improvement of t transient state characteristics with feedfolward compensator added in the diode rectifier with single phase voltage type i inverter was used to simulation load. As a results it was verified that the transient state characteristics with voltage t type PWM convelter control was improved.

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.1
• /
• pp.79-86
• /
• 2012

This paper proposes PID and RIC (Robust Internal-loop Compensator) based motion controller using dual learning algorithm for position control of linear synchronous motor respectively. Its gains are auto-tuned by using two learning algorithms, reinforcement learning and neural network. The feedback controller gains are tuned by reinforcement learning, and then the feedforward controller gains are tuned by neural network. Experiments prove the validity of dual learning algorithm. The RIC controller has better performance than does the PID-feedforward controller in reducing tracking error and disturbance rejection. Neural network shows its ability to decrease tracking error and to reject disturbance in the stop range of the target position and home.

• Transactions on Control, Automation and Systems Engineering
• /
• v.2 no.4
• /
• pp.262-267
• /
• 2000

In this paper, the magnitude of undershoot and overshoot in a prototype second order system with one positive real zero is computed by the analytic methods. Also, it will be shown that the peak times of the undershoot and overshoot can be calculated using the impulse and step response of the second order system. Three different cases are investigated: underdamped(p<ζ<1), critically damped(ζ=1) and overdamped(ζ>1) cases. We deal with the undamped(ζ=0) case as a special case of the underdamped. And a compensation method is proposed to reduce undershoots of the nonmininmun phase system using feedforward compensator.

• 유공압시스템학회:학술대회논문집
• /
• 2010.06a
• /
• pp.81-85
• /
• 2010

This paper deals with the issue of motion control of a single rod cylinder-load system using simple adaptive control (SAC) method. Prior to controller design, the experiment of open-loop response has been performed. Based on it, design parameters of transfer function are obtained. The effect of parallel feedforward compensator has been investigated by computer simulation, suppressing the oscillatory motion. Through experiments it is conformed that the SAC method gives good tracking performance compared to the PD control method.

• Journal of the Korean Society for Precision Engineering
• /
• v.28 no.12
• /
• pp.1379-1387
• /
• 2011

A PID-feedforward controller and Robust Internal-loop Compensator (RIC) based on reinforcement learning using random variable sequences are provided to auto-tune parameters for each controller in the high-precision position control of PMLSM (Permanent Magnet Linear Synchronous Motor). Experiments prove the well-tuned controller could be reduced up to one-fifth level of tracking errors before learning by reinforcement learning. The RIC compared to the PID-feedforward controller showed approximately twice the performance in reducing tracking error and disturbance rejection.