• 대한의용생체공학회:의공학회지
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• 제18권1호
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• pp.51-64
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• 1997

A dynamic model of the Korean total artificial heart(TAH) which contains a brushless DC motor, all of mechanical components, the pump system with integrated variable volume space(WS) and the circulatory system model including the bronchial circulation were established Two different sets of seven differential equations were separately derived for the left and right systolic period of the Korean TAH operation. Throughout the computer simulation, a full-state fEedback optimal controller that minimizes the power consumption of the Korean TAH and drives the end stage velocity of the energy converter to zero was developed based upon the optimal control theory. Robustness of the controller were also analyzed with the dynamic model of the Korean TAH.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.361-361
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• 2000

In the 2-mass system with flexible shaft, a torsional vibration is often generated because of the elastic elements in torque transmission as the newly required speed response which is very close to the primary resonant frequency. This vibration makes it difficult to achieve quick responses of speed and disturbance rejection. In this paper, 2-mass system is designed by using pole placement based on optimal control theory fur fast speed response and torsional vibration elimination and using neural network for disturbance rejection in particular. The simulation results show that the proposed controller based on neural network and full state feedback controller has better performance than 려ll state feedback controller, especially fur disturbance rejection.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2018년도 전력전자학술대회
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• pp.344-345
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• 2018

In order to alleviate the negative impacts of harmonically distorted grid condition on grid-connect inverters, an optimal control design-based gain selection scheme of an LCL-filtered grid-connected inverter and its ability to compensate selective harmonics are presented in this paper. By incorporating resonant terms into the control structure in the state-space to provide infinity gain at selected frequencies, the proposed control offers an excellent steady-state response even under distorted grid voltage. The proposed control scheme is achieved by using a state feedback controller for stabilization purpose and by augmenting the resonant terms as well as intergral term into a control structure for reference tracking and harmonic compensation. Furthermore, the optimal linear quadratic control approach is adopted for choosing an optimal feedback gain to ensure an asymptotic stability of the whole system. A discrete-time full state observer is also introduced into the proposed control scheme for the purpose of reducing a total number of sensors used in the inverter system. The simulation results are given to prove the effectiveness and validity of the proposed control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.55-59
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• 1991

This paper presents a method for designing a full state feedback linear static control law. This will stabilize a given linear uncertain system and also guarantee the performance of the system. The uncertain systems are described by state equation which contains uncertain parameters in system and input distribution matrices. The method is based on the guaranteed cost control of Chang and Peng(1972). The controller gain can be obtained by the solution of a algebraic Riccati equation in which the input weighting matrices depend on the uncertainty bounds. The algebraic Riecati equation in this paper is same as that of weighted LQ regulator problem.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.444-447
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• 1995

The satellite in a circular orbit about a planet with disturbances and a three-degree-of-freedom (3DOF) structure under seismic excitations are modeled by the linear stochastic differential equations. Then the risk-sensitive optimal control method is applied to those equations. The mean and the variance of the cost function varies with respect to the risk-sensitivity parameter, .gamma.$_{RS}$ . For a particular risk-sensitivity parameter value, risk-sensitive control reduces to LQG control. Furthermore, the derivation of the mean square value of the state and control action are given for a finite-horizon full-state-feedback risk-sensitive control system. The risk-sensitive controller outperforms a classical LQG controller in the mean square sense of the state and the control action.

• International Journal of Automotive Technology
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• 제7권5호
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• pp.547-554
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• 2006

This paper is concerned with an optimal control suspension system using the preview information of road input based on a quarter car model. The main purpose of the control is to combine good vibration isolation characteristics with improved attitude control. The optimal control law is derived with the use of calculus of variation, consisting of three parts. The first part is a full state feedback term that includes integral control acting on the suspension deflection to ensure zero steady-state deflection in response to static body forces and ramp road inputs. The second part is a feed-forward term which compensates for the body forces when they can be detected, and the third part depends on previewed road input. The performance of the suspension is evaluated in terms of frequency domain characteristics and time responses to ramp road input and cornering forces. The effects of each part of the suspension controller on the system behavior are examined.

• 한국정밀공학회지
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• 제16권12호
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• pp.126-132
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• 1999

The paper presents the modeling and optimal control for the reduction of transverse vibration of simply supported beam under a moving mass. The equations of motion are derived by using assumed mode method. The coriolis and centripetal accelerations are accommodated in the equations of motion to account for the dynamic effect of the traveling mass. In order to reduce the transverse vibration of the beam, an optimal controller with full state feedback is designed based on the linearized equations of motion. The optimal actuator locations are determined with the evaluation of an optimal cost functional defined by the worst initial condition with the trade-off of controlled mode performance. Numerical simulations are performed with respect to various velocities and different traveling masses. Even if the velocity of the traveling mass reaches to the critical speed which can cause the resonance of the beam, the controller with two piezoelectric actuators shows the excellent performance under severe time-varying disturbances of the system.

• 한국통신학회논문지
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• 제14권2호
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• pp.155-163
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• 1989

단일 링크 유연성 로보트 팔의 제어를 위해서 가정 모드 방법으로 유도된 동 특성 모델링에 QUADRATIC-최적제어 이론을 적용하였다. 이 제어 기법에 대한 제어 루우프 구성에는 모든 상태값의 피이트 백을 필요로 하지만 유연성 팔에 있어서 모드형태의 시 종속 변화율은 직접 출력으로부터 피이드백 될수 없기 때문에 최적 제어기를 실현하기 위해서는 상태 추정기의 도입이 필요하게 된다. 특히 시스템에 외란이나 측정에 노이즈가 발생할 때는 확률 추정 방법을 적용해서 상태를 추정해야 하는데 이를 위해서 칼만 필터를 사용하였다. 상태 추정기를 이용한 유연성 메니퓨레이터 팔의 시스템 모델을 모든 상태 값이 직접 측정될 수 있다고 가정한 유연성 시스템 모델과 시뮤레이션을 통해서 비교하였다.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2001년도 추계 학술발표회 논문집 Proceedings of EESK Conference-Fall 2001
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• pp.373-380
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• 2001

In this research, a controller design method based on optimization is proposed that can satisfy constraints on maximum responses of building structures subject to ground excitation modeled by partially stationary stochastic process. The class of controllers to be optimized is restricted to LQR. Weighting matrix on controlled outputs is used as design variable. Objective function constraint functions and their gradients are computed parameterizing control gain with Riccati matrix. Full state feedback controllers designed by Proposed optimization method satisfy various design objectives and their necessary maximum control forces are computed fur the production of actuator. Probabilities of maximum responses match statistical data from simulation results well.

• 한국지진공학회논문집
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• 제5권6호
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• pp.37-46
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• 2001

본 연구에서는 부분적으로 정상상태 확률과정으로 모델링할 수 있는 가진입력에 대하여 확률적으로 정의된 구조물의 최대응답에 대한 구속조건을 만족시키면서 제어력을 최소화 할 수 있는 최적설계 방법을 제안한다. 최적화 과정에서 안정성의 확보를 위해 제어기를 전상태 피드백 LQR제어기의 형태로 한정하였으며 가중치 행렬을 설계변수로 하고 Riccati 행렬을 매개변수로 하여 목적함수와 구속조건 함수 및 그 기울기를 계산한다. 제안된 방법을 통해 설계된 전상태 피드백 LQR제어기는 목표 응답성능을 만족시킬 수 있었고 이에 필요한 최대 제어력을 확률적으로 정량화하여 제어금기의 제작에 유용한 자료가 될 수 있도록 하였다. 상태변수 추정을 위해 독립적으로 설계된 Kalman 필터와 최적화된 LQR 제어기가 결합된 LQG 제어기 및 그 차수를 축소시킨 제어기는 모두 큰 성능의 저하가 없었으며 따라서 제안된 설계방법을 이용하여 구조물의 최대응답에 관한 구속조건을 만족시키는 출력 피드백 제어기 설계가 충분히 가능함을 확인하였다.