• 한국지진공학회논문집
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• 제6권6호
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• pp.49-53
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• 2002

가중행렬은 일반적인 최적 제어 설계에서 우선적으로 필요하지만 일반적으로 제어 설계자들 이 경험적 지식에 의존하고 있다. 이 논문은 구조물의 에너지를 고려한 최적제어기의 가중행렬을 결정하는 체계적인 절차를 제시하였다. 최적제어기는 LQR과 ILQR로 구분될 수 있다. 구조물의 총에너지를 고려한 Lyapunov 함수를 적용하고, 이로부터 유도된 식이 음수라는 상태를 이용하면 가중행렬을 어렵지 않게 구할 수 있다. 이러한 방법으로 산정된 가중행렬을 이용하여 LQR과 ILQR제어기를 설계하고 제어효율을 입증하였다.

• 대한조선학회논문집
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• 제46권4호
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• pp.382-390
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• 2009

The submerged body near the free surface is disturbed by the 1st and 2nd order wave forces, which results in unstable movements when no control is applied. In this paper, the vertical motions of the submerged body are analyzed, and the time-variant nonlinear system for the vertical motions of the submerged body is transformed to the time-invariant linear system in state space. Next, depth controller of the submerged body is designed by using LQR control, one of the modern optimal control technique. Numerical simulation shows that effective depth controls can be achieved by LQR control.

• Smart Structures and Systems
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• 제20권3호
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• pp.273-283
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• 2017

This paper presents and compares three feedback control strategies for active control of noise inside a 3-D vibro-acoustic cavity. These are a) control strategy based on direct output feedback (DOFB) b) control strategy based on linear quadratic regulator (LQR) to reduce structural vibrations and c) LQR control strategy with a weighting scheme based on structural-acoustic coupling coefficients. The first two strategies are indirect control strategies in which noise reduction is achieved through active vibration control (AVC), termed as AVC-DOFB and AVC-LQR respectively. The third direct strategy is based on active structural-acoustic control (ASAC). This strategy is an LQR based optimal control strategy in which the coupling between the various structural and the acoustic modes is used to design the controller. The strategy is termed as ASAC-LQR. A numerical model of a 3-D rectangular box cavity with a flexible plate (glued with piezoelectric patches) and with other five surfaces treated rigid is developed using finite element (FE) method. A single pair of collocated piezoelectric patches is used for sensing the vibrations and applying control forces on the structure. A comparison of frequency response function (FRF) of structural nodal acceleration, acoustic nodal pressure, and piezoelectric actuation voltage is carried out. It is found that the AVC-DOFB control strategy gives equal importance to all the modes. The AVC-LQR control strategy tries to consume the control effort to damp all the structural modes. It is seen that the ASAC-LQR control strategy utilizes the control effort more intelligently by adding higher damping to those structural modes that matter more for reducing the interior noise.

• 한국추진공학회지
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• 제1권1호
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• pp.24-32
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• 1997

소형 가스터빈 엔진에 대하여 다양한 대기조건에 대하여 DYNGEN을 이용하여 비선형 동적모사를 수행하였다. 블리드 공기량의 변화가 엔진의 성능에 미치는 영향에 대하여 살펴보았다. 성능 향상을 위한 제어기 구성에 앞서 실시간 선형모델을 구하였으며 엔진로터회전수의 변화에 따른 시스템 행렬들의 적합한 변화를 통해 비선형 모사의 결과에 매우 근접하는 결과를 얻었다. 최적의 LQR 제어기를 구성하는데 있어, 연료유량만을 제어입력으로 고려한 경우와 연료유량과 블리드 공기를 동시에 제어입력으로 고려한 경우의 제어 결과 비교를 통해 단일 입력보다는 다변수 입력을 고려했을 때 연구 대상 엔진이 더 우수한 성능을 발휘함을 알았다.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 1997년도 제8회 학술강연회논문집
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• pp.55-60
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• 1997

소형 터보제트엔진에 대하여 다양한 대기조건에 대하여 DYNGEN을 이용하여 비선형 동적모사를 수행하였다. 블리드 공기량의 변화가 엔진의 성능에 미치는 영향에 대하여 살펴보았다. 성능 향상을 위한 제어기 구성에 앞서 실시간 선형모델을 구하였으며 엔진로터 회전수의 변화에 따른 시스템행렬들의 적합한 변화를 통해 비선헝 모사의 결과에 매우 근접하는 결과를 얻었다. 최적의 LQR 제어기를 구성하는데 있어, 연료유량만을 제어입력으로 고려한 경우와 연료유량과 블리드 공기를 동시에 제어입력으로 고려한 경우의 제어 결과 비교를 통해 단일 입력보다는 다변수 입력을 고려했을 때 연구 대상 엔진이 더 우수한 성능을 발휘함을 알았다.

• 한국공작기계학회논문집
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• 제16권2호
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• pp.1-7
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• 2007

Active magnetic bearing has been adopted to support the rotor by electomagnetic force without mechanical contact and lubrication process. A property of the control system for magnetic bearing is improved in accordance with making higher system gain. If the control system has integral part, an excessive overshoot response is shown by making higher integral gain. Therefore, this paper suggests a PID control system in order to eliminate the overshoot at the first stage and improve response characteristics to an impact disturbance at the status of levitation. The control gain was obtained by LQR design method which has the structure of I-PD control system in the state space. The PID control system containing prefilter has the same structure as the I-PD control system. Therefore, the PID control system adopted is able to be tuned by LQR design method. Finally, this paper shows the effect of the prefilter on the active magnetic bearing system through response experiments for levitation responses.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1094-1102
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• 2008

Through the motion control experiment using Industrial Emulator(Model 220 by ECP), the performance comparison of three kinds of controllers such as PID, RIC and LQR was carried out. It was shown that RIC has the best performance in the presence of disturbances such as step one, sinusoidal one and Coulomb friction for the rigid body. LQR using feedback state variables has the best tracking performance far the flexible body. The performance of PID controller is low compared to other controllers, but the design process is simple. The most advanced controller is LQR. In order to attenuate disturbance, an additional state observer should be used to estimate it, making more complex control system. RIC lies between PID and LQR in view of complexity of design. Even though RIC is not complicated, it has good disturbance rejection ability and less tracking error. By considering these aspects, the RIC is suggested as high precision controller to be used in motion control system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.79-81
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• 2004

LQ-Servo controller inherits the stability-robustness from rational LQR structure and also, satisfies performance-robustness that is lacking in LQR structure by importing partial output feedback. In this paper, LQ-Servo controller is suggested for strengthening the performance-robustness. For this, Several executings are effectively performed by implementing to the rotational inverted pendulum system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.513-517
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• 1995

In this paper, a relation of matrix Q in cost function to distances between the closed-loop and open-loop poles of a multi input controllable systems is studied. Futhmore, the state feedback gain with exact desired eigenvalues in the LQR is computed. The proposed scheme is applied to designing automotive active suspension control system for a half-car model and its performance is compared with the existing LQR control system design methodology.

• Journal of applied mathematics & informatics
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• 제15권1_2호
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• pp.185-200
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• 2004

A stochastic optimal LQR control problem under some integral quadratic (IQ) constraints is studied, with cross terms in both the cost and the constraint functionals, allowing all the control weighting matrices being indefinite. Sufficient conditions for the well-posedness of this problem are given. When these conditions are satisfied, the optimal control is explicitly derived via dual theory.