• 한국소음진동공학회논문집
• /
• 제18권1호
• /
• pp.3-10
• /
• 2008

In this paper, the optimal command input is considered in order to minimize the residual vibrations of a flexible cantilever beam when the beam simply changes its position by translation or rotation. Although a cantilever beam has many modes of vibration, it is shown that the consideration of the first mode is sufficient in this case. Thus, the problem becomes a single-degree-of-freedom system subjected to a ground excitation. Two simple methods are proposed to find the optimal command input based on the shock response spectrum (SRS). The first method is the simplest and can be applied to lightly damped cases, and the second method is applicable to more general problems. The second method gives almost the same results as the input shaping method. However the proposed method gives a easier and clearer control strategy.

• 한국정보통신학회논문지
• /
• 제4권1호
• /
• pp.115-121
• /
• 2000

입력제어신호 변형은 유연한 빔의 진동을 감소시키는 중요한 수단이다. 본 논문에서는 유한시간에서 다중 모드인 유연한 빔의 오차 진동을 제거하는 매우 단순한 입력제어신호 변형 방법을 소개한다. 제어신호는 선형 방정식의 풀이에 의해 구성되어 진다. 유한시간 동안 원하는 동작의 모터 각도는 임의의 한정된 오차 진동을 제거함으로서 도달된다. 폐루프 구성에서 모터 각도에 대한 기준입력으로서의 제어신호 사용에 대한 필요한 조건들 또한 다루게 된다. 제안된 시스템 구성의 효과는 컴퓨터 시뮬레이션을 통해 증명된다.

• 대한기계학회논문집A
• /
• 제35권11호
• /
• pp.1423-1428
• /
• 2011

본 논문은 비선형 구동기를 포함한 유연시스템의 잔류변위저감을 위한 학습입력성형제어기를 제시한다. 제시되는 제어기는 비선형 구동기에 대한 입력성형제어기, 반복최소자승법 및 설계변수 updating rule 을 통합하여 개발된다. 비선형 구동기에 대응한 입력성형제어기 설계변수의 updating mechanism 을 개선하기 위한 잔류변위 측정함수가 제시된다. 제시된 제어방법을 pendulum system 에 적용하여 변수추정의 수렴성과 변위저감제어성능의 평가를 통해 수치해석적으로 실용성이 검증된다.

• Journal of Power Electronics
• /
• 제9권2호
• /
• pp.173-179
• /
• 2009

This paper proposes a new three-phase diode rectifier system with a sinusoidal input current at unity power factor and a regulated and isolated output voltage at low level. The inherent natural wave-shaping capability of the reduced kVA polyphase transformer together with an active current wave-shaping technique results in a significant reduction of input and output filter requirements associated with switching ripple and EMI. The operation principles are described along with a design example and a comparative evaluation. Experimental results on a 1.5kW prototype are provided to validate the proposed concept.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1330-1333
• /
• 1997

In this paper, the optimal torque shaping is obtained for 3-axis rotation of a spacecraft. The true optimal 3-axis rotation of rigid spaeraft is first investigated via parameter optimization method with prescribed switching times. Input torque shape of the troque generating device mounted on the central hub is optimized using fourier Series expansion so that the spacecraft may slew while minimizing the vibration energy of flexible modes. Numerical results show that proposed method suggests a reference trahectory for open-loop control, and also verify that it can minimize the vibratory modes of the spacecraft during/after the rest-to-rest maneuver.

• Journal of Power Electronics
• /
• 제19권4호
• /
• pp.881-893
• /
• 2019

This paper proposes a practical sliding-mode controller design for shaping the impedances of cascaded boost-converter power decoupling circuits for reducing the second order harmonic ripple in photovoltaic (PV) current. The cascaded double-boost converter, when used as power decoupling circuit, has some advantages in terms of a high step-up voltage-ratio, a small number of switches and a better efficiency when compared to conventional topologies. From these features, it can be seen that this topology is suitable for residential (PV) rooftop systems. However, a robust controller design capable of rejecting double frequency inverter ripple from passing to the (PV) source is a challenge. The design constraints are related to the principle of the impedance-shaping technique to maximize the output impedance of the input-side boost converter, to block the double frequency PV current ripple component, and to prevent it from passing to the source without degrading the system dynamic responses. The design has a small recovery time in the presence of transients with a low overshoot or undershoot. Moreover, the proposed controller ensures that the ripple component swings freely within a voltage-gap between the (PV) and the DC-link voltages by the small capacitance of the auxiliary DC-link for electrolytic-capacitor elimination. The second boost controls the main DC-link voltage tightly within a satisfactory ripple range. The inverter controller performs maximum power point tracking (MPPT) for the input voltage source using ripple correlation control (RCC). The robustness of the proposed control was verified by varying system parameters under different load conditions. Finally, the proposed controller was verified by simulation and experimental results.

• 한국정밀공학회지
• /
• 제30권9호
• /
• pp.909-913
• /
• 2013

Various types of large substrate handling robots are used in the thin file solar cell manufacturing line as well as LCD or PDP production line. Because the robot handles the heavy substrate at high speed, there are some issues such as vibration control and the optimal design of arms and forks. As the substrate becomes larger and heavier, robot systems are also larger and the vibration issue of the robot end-effector becomes more important. In the paper, we established the robot modeling and the control architecture including the flexible part such as forks. Then, we performed dynamic simulation in the various condition and analyzed the characteristics of the fork vibration. We can reduce the vibration using the trajectory planning and input shaping algorithm and it was proved by experiment.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2012년도 춘계학술대회 논문집
• /
• pp.701-706
• /
• 2012

This research is concerned with the derivation of equations of motion for a slewing beam and the application of input shaper to the bang-bang control to achieve vibration suppression. When a uniform beam with a tip mass rotates about the axis perpendicular to the undeformed beam's longitudinal axis, it experiences inertial loading. Hence, the beam vibrates. In this paper, we used the input shaper for the maneuvering control to suppress vibrations. The maneuvering control which can achieve a minimum-time control is a bang-bang control. The input-shaped bang-bang maneuvering is used to suppress vibrations both theoretically and experimentally. The slewing beam experiment is not an easy subject because of the inherent damping existing inside the rotor. We propose the use of a negative damping to eliminate the rotor damping. Numerical and experimental results show that the input-shaper can be effectively used for the vibration suppression of a slewing beam.

• 한국소음진동공학회논문집
• /
• 제22권6호
• /
• pp.542-549
• /
• 2012

This research is concerned with the derivation of equations of motion for a slewing beam and the application of input shaper to the bang-bang control to achieve vibration suppression. When a uniform beam with a tip mass rotates about the axis perpendicular to the undeformed beam's longitudinal axis, it experiences inertial loading. Hence, the beam vibrates. In this paper, we used the input shaper for the maneuvering control to suppress vibrations. The maneuvering control which can achieve a minimum-time control is a bang-bang control. The input-shaped bang-bang maneuvering is used to suppress vibrations both theoretically and experimentally. The slewing beam experiment is not an easy subject because of the inherent damping existing inside the rotor. We propose the use of a negative damping to eliminate the rotor damping. Numerical and experimental results show that the input-shaper can be effectively used for the vibration suppression of a slewing beam.

• International Journal of Aeronautical and Space Sciences
• /
• 제7권1호
• /
• pp.129-136
• /
• 2006

A new guidance synthesis for anti-ship missiles to control impact angle and impact time is proposed in this paper. The flight vehicle is assumed as a 1st order lag system to consider more practical system. The proposed guidance synthesis enhances the survivability of anti-ship missiles because multiple anti-ship missiles with the proposed synthesis can hit the target simultaneously. The control input to satisfy constraints of zero miss distance and impact angle, and the feedforward bias control input to control impact time constitute the guidance law. The former is from trajectory shaping guidance, the latter is from neural network. And particle swarm optimization method is introduced to furnish reference input and output for learning in neural network. The performance of the proposed synthesis in the accuracy of impact time and angle is validated by numerical examples.