• 한국음향학회지
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• 제7권2호
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• pp.5-19
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• 1988

본 논문은 최적조절기, 최적추적제어, 최단시간제어 및 힘상쇄 관측기이론 등을 이용하여 탄성계 진동을 능동적으로 제어하기 위한 제어기 개발에 관한 연구로 탄성계의 모달해석방법을 통하여 작동기의 설치위치, 가중치의 선정 등 각종 파과미터가 제어기의 제어성능에 미치는 영향에 대하여 검토하였다.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.77-83
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• 2005

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has a battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joints don't maintain optimally, it is difficult for a robot to have working time for a long time. Also, if a gait trajectory doesn't have optimal state, the expected life span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by a PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration for the joint motion and distributed computation of the humanoid, ISHURO, and suggest its result such as the structure of the network and a disturbance observer.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.351-354
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• 1989

In a speed_controlled system with cascade control which shows an optimal performance in the linear case, limit cycles can occur due to backlash. The various effects observed can be explained with the aid of the describing function. With a first-order load torque observer these limit cycles can be avoided. Moreover the dynamic performance improves considerably and the range of application of cascade control is extended.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.639-642
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• 1988

In this paper, the problem of regulation in the presence of a known firing disturbance is considered. We show how one can apply a disturbance-utilizing control(DUC) theory to a actual gun servo model. Applied disturbance-utilizing control theory is established by combining LQ regulator and reduced order observer in the discrete time domain. To see the performance of the applied method, computer simulation results are given.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.6-11
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• 1988

Alight-weight robot arm carrying a payload is modelled as a cantilever beam with a tip mass subjected to a high speed rotation. Equations of Motion, for modal control, are represented as discrete state variable form. Digital optimal control law with observer is developed to suppress the arm vibration and control the position of the joint angle. The effects of the number of controlled modes, weighting factors of the performance index, reference rotation time, and sampling time on the control performance are analyzed by computer simulation and experiments.

• 대한전기학회논문지
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• 제39권2호
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• pp.210-217
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• 1990

For the failure detection of dynamic systems, processing the residuals from the observer of the estimator is the most general method. A failure detection method which use an adaptive predictor to separate the effect of sensor failure from the additive noise in the residuals of a Kalman filter that is employed as an estimator of a dynamic system is addressed here. In the method, the property of the residuals of an optimal Kalman estimator is exploited. The simulation results of this method shows that the proposed method is superior to the sequential probability ratio test for a small failure magnitude.

• 대한전기학회논문지
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• 제33권3호
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• pp.100-105
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• 1984

The optimal Load-Frequency Control law is presented with the performance criterion which includes the changing rate of governor speed. The authors propose two controllers. One is a dynamic controller using the method of state augmentation and the other is a constant gain controller with use of the trace function lemma by Kleinman. For a more practical realization, a reduced-order Luenberger observer is applied in order to identify unmeasurable states and power demand. The control schemees presented here are tested through the model developed by Elgerd, and the usefulness is demonstrated.

• Nuclear Engineering and Technology
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• 제26권1호
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• pp.32-40
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• 1994

중기발생기의 수위조절과 관련하여 최적제어이론을 이용한 디지탈 제어시스템을 설계하였다. 우선 급수변을 일차 지연함수로 취급하여 전체 시스템에 포함시킴으로써 보다 실제에 가까운 시스템이 되게 하였다. LQ 방법을 이용하여 급수변의 작동 및 요구신호량과 급수출력과의 차이를 최소화시킬 수 있는 최적 이득상수를 결정하였으며, 아울러 저출력에서의 급수유량 측정이 불확실함을 고려하여 급수신호에 대한 칼만 관측기를 설계하였다. 그리고 전출력 구간에서 일정한 안정여유도를 유지시킬 수 있는 가변상수 디지탈 제어기를 설계하였다. 이러한 제어시스템은 보다 현실적인 상황을 반영하고 있으며 저출력에서 급수와 반대현상을 보이는 중기발생기의 동특성에도 불구하고 만족할만한 제어특성을 보이고 있다.

• 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 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1440-1443
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• 1997

The optimal residual generator based on parity relation approach for the fault detection and isolation of a arge diesel engine actuator position servo system is presented. The closed-loop residual generator is designed to have robustness against modeling errors and noise. Main purpose of the fault detection and isolation system in the process is to detect and isolate two important faults, i.e., actuatro fault and fault of speed sensor, that, if not detected and compensated, degrade the overall control system performance. Simulation results are give to show the practical applicability of the fault detecrtion and isloation scherme.