• 한국공작기계학회논문집
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• 제17권3호
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• pp.40-46
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• 2008

This paper presents the optimal motion control for 3-axis SCARA robot by using $LabVIEW^{(R)}$. Specifically, for optimal motion control of 3-axis SCARA robot, we study velocity profile based on finite jerk(the first derivative of acceleration) and optimal gain tunig based on frequency response method by using $LabVIEW^{(R)}$. The velocity optimization with finite jerk aims at generating the smooth velocity profile of robot. Velocity profile based on finite jerk is acquired and applied to 3-axis SCARA robot by using $LabVIEW^{(R)}$. DSA(Dynamic Signal Analyzer) for frequency response method is programed by using $LabVIEW^{(R)}$. We obtain the bode plot of transfer function about 3-axis SCARA robot by using DSA, and perform the gain tuning considering dynamic characteristic based on the bode plot. These experiments have shown that the proposed motion control can reduce vibration displacement and response error rate each 33.7% and 51.7% of 3-axis SCARA robot.

• 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.

• 제어로봇시스템학회논문지
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• 제21권1호
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• pp.28-33
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• 2015

In this paper, we propose a near optimal controller design method for permanent magnet synchronous generators (PMSGs) of MW-class direct-driven wind turbine systems based on SDRE (State Dependent Riccati Equation) approach. Using the solution matrix of an SDRE, we parameterize the optimal controller gain. We present a simple algorithm to compute the near optimal controller gain. The proposed optimal controller can enable PMSGs to precisely track the reference speed determined by the MPPT algorithm. Finally, numerical simulation results are given to verify the effectiveness of the proposed optimal controller.

• International Journal of Control, Automation, and Systems
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• 제5권2호
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• pp.161-169
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• 2007

The PLL equivalent augmented system incorporated with state feedback is proposed in this paper. The optimal value of filter time constant of loop filter in the phase-locked loop control system and the optimal state feedback gain designed by using linear quadratic regulator approach are derived. This approach allows the PLL control system to employ the large value of the phase-frequency gain $K_d$ and voltage control oscillator gain $K_o$. In designing, the structure of phase-locked loop control system will be rearranged to be a phase-locked loop equivalent augmented system by including the structure of loop filter into the process and by considering the voltage control oscillator as an additional integrator. The designed controller consisting of state feedback gain matrix K and integral gain $k_1$ is an optimal controller. The integral gain $k_1$ related to weighting matrices q and R will be an optimal value for assigning the filter time constant of loop filter. The experimental results in controlling the second-order lag pressure process using two types of loop filters show that the system response is fast without steady-state error, the output disturbance effect rejection is fast and the tracking to step changes is good.

• 한국소음진동공학회논문집
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• 제15권5호
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• pp.578-585
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• 2005

In this paper, we present a schematic method estimating the tracking vibration quantity occurring in the track-following system of an optical recording device. A tracking loop gain adjustment algorithm is introduced to estimate accurately the tracking vibration quantity in spite of the uncertainties of the tracking actuator, Accordingly, the tracking vibration quantity can be estimated from the tracking error, the controller output, the nominal actuator model, and a compensated gain. An optimal tracking controller can be designed from a minimum tracking open-loop gain calculated by the estimated tracking vibration quantity The proposed vibration quantity estimation and controller design method are applied to the track-following system of an optical recording device and are evaluated through the experimental result.

• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.533-536
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• 2014

In this paper, a near optimal decentralized observer-controller design method is proposed for ramp metering systems based on SDRE (State Dependent Riccati Equation) approach. The optimal nonlinear observer gain is parameterized in terms of the solution matrix of an SDRE. This paper gives a simple algorithm to compute the near optimal observer gain. The optimal control design problem is also considered. Finally, numerical simulation results are given to illuminate the effectiveness and practicality of the proposed design method.

• Journal of information and communication convergence engineering
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• 제15권2호
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• pp.73-78
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• 2017

A general linearly constrained broadband adaptive array is examined in the eigenvector space with respect to the optimal weight vector and the adaptive algorithm. The optimal weight vector and the general adaptive algorithm in the eigenvector space are obtained by eigenvector matrix transformation. Their operations are shown to be the same as in the standard coordinate system except for the relevant transformed vectors and matrices. The nulling performance of the general linearly constrained broadband adaptive array depends on the gain factor such that the constraint plane is shifted perpendicularly to the origin by an increase in the gain factor. The general linearly constrained broadband adaptive array is observed to perform better than a conventional linearly constrained adaptive array in a coherent signal environment, while the former performs similarly to the latter in a non-coherent signal environment.

• 항공우주기술
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• 제7권1호
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• pp.61-67
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• 2008

무인항공기의 비행제어법칙 설계를 위하여 자동 제어기 이득 결정 프로그램을 개발하였다. 제어기 이득 결정 문제를 최적화 문제로 정식화 하고, 최적화 문제의 최적해로부터 제어기 이득을 결정하였다. 최적화 문제의 해를 계산하기 위해 진화연산기법의 하나인 PSO 알고리듬과 비선형 프로그래밍의 하나인 SQP 알고리듬을 연결하여 사용하였다. 이 방법을 통하여 최적해 계산 시간을 PSO 방법에 비하여 1/5로 감소시켰으며, 보다 정확한 최적해를 계산할 수 있었다.

• 로봇학회논문지
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• 제15권3호
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• pp.212-220
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• 2020

This paper deals with a strategy of gain optimization for the kinematic control algorithm of a wire-driven surgical robot. The proposed controller consists of the closed-loop inverse kinematics with the back-calculation method. The closed-loop inverse kinematics has 18 PID control gains, and the back-calculation method has 6 gains. An efficient strategy is designed to optimize 18 values first and then the remaining 6 values. The optimal gain sets are searched under the step input with performance indices. In this gain optimization, the objective function is defined as the minimum value of signal-to-noise ratio of the performance indices for 6 DoF (Degree-of-Freedom) motion that is based on the Taguchi method, and the constraints are applied to obtain stable responses for each motion evenly. The gain sets obtained are verified by simulations using the test trajectories. In comparative results, the optimal gain value based on the performance index combined with ISE (integral of square error) and settling time showed the best control performance.

• Journal of Power Electronics
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• 제19권2호
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• pp.380-393
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• 2019

Traditional boost converters have difficulty realizing high efficiency and high voltage gain conversion due to 1) extremely large duty cycles, 2) high voltage and current stresses on devices, and 3) low conversion efficiency. Therefore, a function decoupling high voltage gain DC/DC converter composed of a DC transformer (DCX) and an auxiliary converter is proposed. The role of DCX is to realize fixed gain conversion with high efficiency, whereas the role of the auxiliary converter is to regulate the output voltage. In this study, different forms of combined high voltage gain converters are compared and analyzed, and a structure is selected for the function decoupling high voltage gain converter. Then, topologies and control strategies for the DCX and auxiliary converter are discussed. On the basis of the discussion, an optimal design method for circuit parameters is proposed, and design procedures for the DCX are described in detail. Finally, a 400 W experimental prototype based on the proposed optimal design method is built to verify the accuracy of the theoretical analysis. The measured maximum conversion efficiency at rated power is 95.56%.