• 제목/요약/키워드: Linear Quadratic Regulator(LQR)

검색결과 98건 처리시간 0.038초

최적제어이론을 이용한 DC-DC 컨버터의 제어기 설계 (Controller Design of a DC-DC Converter using an Optimal Control Theory)

  • 이상현;배은경;신철준;전기영;전지용;오봉환;이훈구;한경희
    • 전력전자학회:학술대회논문집
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    • 전력전자학회 2007년도 하계학술대회 논문집
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    • pp.421-423
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    • 2007
  • In this paper, The authors apply a state feedback control using an optimal control theory to improve the stability of the control and the dynamic response of the DC-DC converter system with a number of different loads. To execute a this state feedback control, The authors present the pole placement technique using Linear Quadratic Regulator(LQR) to optimally control the system. An integrator can also be included in the open-loop path in order to minimize the steady-state error of the output voltage. To confirm the superiority of the controller, The simulation results are presented.

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Active vibration robust control for FGM beams with piezoelectric layers

  • Xu, Yalan;Li, Zhousu;Guo, Kongming
    • Structural Engineering and Mechanics
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    • 제67권1호
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    • pp.33-43
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    • 2018
  • The dynamic output-feedback robust control method based on linear matrix inequality (LMI) method is presented for suppressing vibration response of a functionally graded material (FGM) beam with piezoelectric actuator/sensor layers in this paper. Based on the reduced model obtained by using direct mode truncation, the linear fractional state space representation of a piezoelectric FGM beam with material properties varying through the thickness is developed by considering both the inherent uncertainties in constitution material properties as well as material distribution and the model error due to mode truncation. The dynamic output-feedback robust H-infinity control law is implemented to suppress the vibration response of the piezoelectric FGM beam and the LMI method is utilized to convert control problem into convex optimization problem for efficient computation. In numerical studies, the flexural vibration control of a cantilever piezoelectric FGM beam is considered to investigate the accuracy and efficiency of the proposed control method. Compared with the efficient linear quadratic regulator (LQR) widely employed in literatures, the proposed robust control method requires less control voltage applied to the piezoelectric actuator in the case of same control performance for the controlled closed-loop system.

중형항공기용 터보팬 엔진의 성능최적화를 위한 LQR 제어기 설계 (II) (A LQR Controller Design for Performance Optimization of Medium Scale Commercial Aircraft Turbofan Engine (II))

  • 공창덕;기자영
    • 한국추진공학회지
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    • 제2권3호
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    • pp.99-106
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    • 1998
  • 현재 국내에서 개발되어왔던 중형항공기 후보엔진인 터보팬 엔진의 성능해석과 성능최적화를 위한 제어기법을 연구하였다. 선행된 연구에서 동적모사 및 실시간 선형모사를 수행한 결과 지상 정지조건 하에서 70% 엔진로터 회전수에서 100% 엔진로터 회전수로 급상승하는 경우 고압터어빈 입구온도에서 오버슈트가 발생하여 제한온도인 3105 $^{\cire}R$ 을 넘어감을 확인할 수 있었다 또한 압축기의 서지여유도 협소하여 엔진에 손상을 가져올 수 있다. 이에 본 연구에서는 보다 빠른 가속성능과 함께 엔진 성능의 최적화를 위해 LQR 제어기를 설계하였다. 제어기의 설계를 위해서는 선형모델을 구성해야하며 엔진의 비선형 거동에 보다 근접한 선형화를 위해서는 실시간 선형모사가 요구된다. 선형모델에 필요한 행렬은 자동점에 %의 섭동을 주어 5% 간격으로 구하였으며, 최소자승법을 이용하여 저압 엔진로터 회전수의 함수로 보간하는 방법으로 실시간 선형모사를 수행하였다. 제어변수는 연료유량의 증가속도와 압축기 블리드 공기유량으로 하였으며, 제어 결과 고압 터빈입구온도의 오버슈트를 제거하였으며 최대 압축기 서지여유도 0.55 이하로 확보였다. 비연료소모율도 0.353에서 0.43으로 안정됨을 확인할 수 있었다.

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Improving the Dynamic Performance of Distribution Electronic Power Transformers Using Sliding Mode Control

  • Hooshmand, Rahmat-Allah;Ataei, Mohammad;Rezaei, Mohammad Hosein
    • Journal of Power Electronics
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    • 제12권1호
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    • pp.145-156
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    • 2012
  • These days, the application of electronic power transformers (EPTs) is expanding in place of ordinary power transformers. These transformers can transmit power via three or four wire converters. Their dynamic performance is extremely important, due to their complex structure. In this paper, a new method is proposed for improving the dynamic performance of distribution electronic power transformers (DEPT) by using sliding mode control (SMC). Hence, to express the dynamic characteristics of a system, different factors such as the voltage unbalance, voltage sag, voltage harmonics and voltage flicker in the system primary side are considered. The four controlling aims of the improvement in dynamic performance include: 1) maintaining the input currents so that they are in sinusoidal form and in phase with the input voltages so they have a unity power factor, 2) keeping the dc-link voltage within the reference amount, 3) keeping the output voltages at a fixed amount and 4) keeping the output voltages in sinusoidal and symmetrical forms. Simulation results indicate the potential and capability of the proposed method in improving DEPT behavior.

외륜 이동로봇의 균형제어 알고리즘 (Balancing Control Algorithm for a Single-Wheeled Mobile Robot)

  • 이현탁;박희재
    • 한국생산제조학회지
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    • 제26권1호
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    • pp.144-149
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    • 2017
  • There have been lots of interest on service and entertainment robots. To ensure that robots work in harmony with humans, their stability and compactness are some of the key issues. Obviously, robots with fewer wheels occupy a smaller floor area compared to those with more wheels. In addition, robots with fewer wheels, whose posture stabilities are maintained by feedback control, are stable even under larger accelerations and/or higher locations of the center of mass. To facilitate controller design, it is assumed that both pitch and roll dynamics are decoupled. The dynamic equations of motion for the proposed robot are derived from the Euler-Lagrange equation. To obtain the optimal balancing control law, linear quadratic regulator control methods are applied to the linearized dynamic equations. Simulation and experimental results verify the effectiveness and performance of the proposed balancing control algorithm for a single-wheeled mobile robot.

Active Control of Offshore Structures for Wave Response Reduction Using Probabilistic Neural Network

  • ;;;장성규
    • 한국해양공학회지
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    • 제20권5호
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    • pp.1-8
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    • 2006
  • Offshore structures are subjected to wave, wind, and earthquake loads. The failure of offshore structures can cause sea pollution, as well as losses of property and lives. Therefore, safety of the structure is an important issue. The reduction of the dynamic response of offshore towers, subjected wind generated random ocean waves, is a critical problem with respect to serviceability, fatigue life and safety of the structure. In this paper, a structural control method is proposed to control the vibration of offshore structures by the probabilistic neural network (PNN). The state vectors of the structure and control forces are used for training patterns of the PNN, in which control forces are prepared by linear quadratic regulator (LQR) control algorithm. The proposed algorithm is applied to a fixed offshore structure under random ocean waves. Active control of the fixed offshore structure using the PNN control algorithm shows good results.

능동 구속감쇠층을 이용한 아크형태 셸 모델에 대한 진동특성 연구 (Vibration Characteristic Study of Arc Type Shell Using Active Constrained Layer Damping)

  • 고성현;박현철;황운봉;박철휴
    • 한국소음진동공학회논문집
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    • 제14권3호
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    • pp.193-200
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    • 2004
  • The Active Constrained Layer Damping(ACLD) combines the simplicity and reliability of passive damping with the low weight and high efficiency of active control to attain high damping characteristics. The proposed ACLD treatment consists of a viscoelastic damping which is sandwiched between an active piezoelectric layer and a host structure. In this manner, the smart ACLD consists of a Passive Constrained Layer Damping(PCLD) which is augmented with an active control in response to the structural vibrations. The arc type shell model is introduced to describe the interactions between the vibrating host structure, piezoelectric actuator and viscoelastic damping. The system is modeled by applying ARMAX model and changing a state-space form through the system identification method. An optimum control law for the piezo actuator is obtain by LQR(Linear Quadratic Regulator) method. The performance of the ACLD system is determined and compared with PCLD in order to demonstrate the effectiveness of the ACLD treatment. Also, the actuation capability of a piezo actuator is examined experimentally by varying thickness of viscoelastic material(VEM).

Application to Speed Control of Brushless DC Motor Using Mixed $H_2/H_{\infty}$ PID Controller with Genetic Algorithm

  • ;;;;김상봉
    • 한국해양공학회지
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    • 제22권4호
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    • pp.14-19
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    • 2008
  • This paper proposes a mixed $H_2/H_{\infty}$ optimal PID controller with a genetic algorithm based on the dynamic model of a brushless direct current (BLDC) motor and applies it to speed control. In the dynamic model of the BLDC motor with perturbation, the proposed controller guarantees arobust and optimal tracking performance to the desired speed of the BLDC motor. A genetic algorithm was used to obtain parameters for the PID controller that satisfy the mixed $H_2/H_{\infty}$ constraint. To implement the proposed controller, a control system based on PIC18F4431 was developed. Numerical and experimental results are shown to prove that the performance of the proposed controller was better than that of the optimal PID controller.

MR 유체와 압전스택을 특징으로하는 새로운 형태의 능동 엔진마운트 시스템 (A New Type of Active Engine Mount System Featuring MR Fluid and Piezostack)

  • 이동영;손정우;최승복
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2009년도 춘계학술대회 논문집
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    • pp.444-449
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    • 2009
  • An engine is one of the most dominant noise and vibration sources in vehicle systems. Therefore, in order to resolve noise and vibration problems due to engine, various types of engine mounts have been proposed. This work presents a new type of active engine mount system featuring a magneto-rheological (MR) fluid and a piezostack actuator. As a first step, six degrees-of freedom dynamic model of an in-line four-cylinder engine which has three points mounting system is derived by considering the dynamic behaviors of MR mount and piezostack mount. In the configuration of engine mount system, two MR mounts are installed for vibration control of roll mode motion whose energy is very high in low frequency range, while one piezostack mount is installed for vibration control of bounce and pitch mode motion whose energy is relatively high in high frequency range. As a second step, linear quadratic regulator (LQR) controller is synthesized to actively control the imposed vibration. In order to demonstrate the effectiveness of the proposed active engine mount, vibration control performances are evaluated under various engine operating speeds (wide frequency range) and presented in time domain.

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능동 감쇠층을 이용한 아크형태 쉘 모델에 대한 진동특성 연구 (Vibration Control of Arc Type Shell using Active Constrained Layer Damping)

  • 고성현;박현철;박철휴;황운봉
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2002년도 춘계학술대회논문집
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    • pp.1032-1038
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    • 2002
  • The Active Constrained Layer Damping(ACLO) combines the simplicity and reliability of passive damping with the low weight and high efficiency of active control to attain high damping characteristics. The proposed ACLD treatment consists of a viscoelastic damping which is sandwiched between an active piezoelectric layer and a host structure. In this manner, the smart ACLD consists of a Passive Constrained Layer Damping(PCLD) which is augmented with an active control in response to the structural vibrations. The Arc type shell model is introduced to describe the interactions between the vibrating host structure, piezoelectric actuator and visco damping, The system is modeled by applying ARMAX model and changing a state-space form through the system identification method. An optimum control law for piezo actuator is obtain by LQR(Linear Quadratic Regulator) Method. The performance of ACLD system is determined and compared with PCLD in order to demonstrate the effectiveness of the ACLD treatment, Also, the actuation capability of a piezo actuator is examined experimentally by using various thickness of Viscoelastic Materials(VEM).

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