• 제목/요약/키워드: Optimal Preview Control

검색결과 19건 처리시간 0.024초

연속냉간 압연시스템의 디지털 최적 예견제어 (Digital Optimal Preview Control of Tandem Cold Mills)

  • 김종식;김승수;이규택
    • 대한기계학회논문집
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    • 제19권9호
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    • pp.2142-2153
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    • 1995
  • A digital preview controller using optimal LQ control theory is suggested for tandem cold mills to achieve a remarkable improvement of the thickness accuracy. Optimal preview control system is constructed for each rolling stand of tandem cold mills for which the blocked noninteracting control is carried out, and it is compared with the optimal LQ control system which has only feedback control. And in the cases that all/some of disturbance inputs are previewable, full and partial preview controllers are designed, and their performance effects are compared and discussed. The simulation results show that the performance of tandem cold mills can be improved largely through partial preview control.

Research on Fuzzy I-PD Optimal Preview Control

  • Wang, Dong;Aida, Kazuo
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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    • pp.483-483
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    • 2000
  • The Fuzzy Preview Control (FPC) design methodology using I-PD Preview Control (IPC) and Optimal Preview Control (OPC)[6] are discussed in this paper. First we show a new fuzzy controller with single input single output, and build a relationship between it and the I-PD Control proposed by Kitamari, as well as Optimal Control with some specific equations. We also give the stability analysis with Lyapunov theorem. On this way, we can design a Fuzzy I-PD Controller (FIC) very easier and more effective. Then, preview control element design methodology of FCP was given according to IPC and OPC. Third, to make the system more rapidly and more little overshooting, two factors are given to adjust the controller's properties. At last, the performance of FPC is revealed via computer simulation using a nonlinear plant.

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PREVIEW CONTROL FOR EDGE-FOLLOWING USING ROBOT FORCE CONTROL

  • Yong, Boojoong
    • 한국생산제조학회지
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    • 제8권1호
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    • pp.100-111
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    • 1999
  • This paper resents a discrete-time model of an edge-following with accommodation force control. Since an irregular workpiece shape causes disturbances to the system while following an edge, the use of preview control is proposed to improve the system performance. The preview control employs future information of the workpiece contour shape, and it can be developed by LQ-optimal control principles. This study provides a general method how to utilize the local future information obtained by the finite preview to minimize an optimality criterion evaluated over a problem duration. The force controller is designed based on the preview control scheme, and then implemented on a VME-based computer. Experimental results using an industrial robot show that the preview control system achieves faster tracking speed and better force regulation than the conventional nonpreview control system.

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상용 차량의 축거 예견 제어를 위한 미지 입력 관측기 설계 (Design of unknown input observer of wheelbase preview control of commercial vehicles)

  • 노현석;박영진
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.892-895
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    • 1996
  • An unknown input observer is proposed that can be used in wheelbase preview control of commercial vehicles. The preview and state information, required to calculate actuator force, are reconstructed from the measurement variables such as heave and pitch acceleration. Gain matrix of observer is optimally selected so that influence of system and measurement noises on the estimation error can be minimized. Estimated preview information requires low pass filtering to eliminate high frequency components resulting from differentiation of noisy output signals. Effectiveness of the proposed method is demonstrated by numerical simulation of half car model.

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Preview Control of High Mobility Tracked Vehicle Suspension with multiple wheels

  • Kim, Yoonsun;Park, Youngjin
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2002년도 ICCAS
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    • pp.115.3-115
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    • 2002
  • To improve the performance of the tracked vehicle system, we examined the feasibility of using the preview control for the tracked vehicles suspension system. We proposed a method to apply a linear optimal preview control to the tracked vehicle system. To avoid the complexity of modeling the track subsystem and kinematical nonlinearity in the trailing arm suspension, we classified these as unknown dynamics and disturbances. We used the Time Delay Control(TDC) method to make sprung mass dynamics follow that of linear preview controlled tracked vehicle model by compensating the uncertainties and disturbances. We have verified by the computer simulation that the proposed method shows good robus...

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OPTIMAL PREVIEW CONTROL OF TRACKED VEHICLE SUSPENSION SYSTEMS

  • Youn, I.;Lee, S.;Tomizuka, M.
    • International Journal of Automotive Technology
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    • 제7권4호
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    • pp.469-475
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    • 2006
  • In this paper, an optimal suspension system with preview of the road input is synthesized for a half tracked vehicle. The main goal of this research is to improve the ride comfort characteristics of a fast moving tracked vehicle in order to maintain the driver's driving capability. Several different kinds of preview control algorithms are evaluated with active or semi-active suspension systems. The road information estimated from the motion of the 1st road-wheel is adequate to make the best use of the preview control algorithm for tracked vehicles. The ride-comfort characteristics of the tracked vehicle are more dependent on pitching angular acceleration than heaving acceleration. The pitching motion is reduced by the suspension system with hard outer suspensions and soft inner suspensions. Simulation results show that the performance of sky-hook algorithms for ride comfort nearly follow that of full state feedback algorithms.

최적예견 제어 기법을 이용한 운전자 조향 모델의 개발 및 검증 (Development and Validation of A Finite Optimal Preview Control-based Human Driver Steering Model)

  • 강주용;이경수;노기한
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2007년도 춘계학술대회A
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    • pp.855-860
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    • 2007
  • This paper describes a human driver model developed based on finite preview optimal control method. The human driver steering model is constructed to minimize a performance index which is a quadratic form of lateral position error, yaw angle error and steering input. Simulation studies are conducted using a vehicle simulation software, Carsim. The Carsim vehicle model is validated using vehicle test data. In order to validate the human driving steering model, the human driver steering model is compared to the driving data on a virtual test track(VTT) and the actual vehicle test data. It is shown that human driver steering behaviors can be well represented by the human driver steering model presented in this paper

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상태변수/노면입력 관측기를 이용한 반능동 현가시스템 제어 (States/Road Input Observer-based Control of Semi-active Suspensions)

  • 김정헌;이경수
    • 한국자동차공학회논문집
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    • 제8권2호
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    • pp.102-109
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    • 2000
  • This paper deals with an observer-based preview control for semi-active suspensions. An Observer has been designed such that all the state variables and road inputs can be estimated from accelerations. Since the road input to the rear wheels is a delayed version of that to the front wheels, it can be obtained by estimating the road input to the front wheels without preview the estimated values of state and the estimated road input has been investigated. The results show that the observer-based control can provide good performance. The observer-based preview control improves the dynamic behavior of the rear axle and that of pitch motion compared to the LQ optimal control.

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DESIGN OF AN $H^{\infty}$ CONTROLLER WITH PREVIEW

  • Choi, Chintae;Kim, Jong-Shik
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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    • pp.44-47
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    • 1996
  • An optimal preview controller based on the discrete-time $H_{.inf}$ control is presented. The preview controller is synthesized by considering the bounded unknwon disturbances as well as previewable commands and disturbances. The controller derivation procedure is analogous to the LQ-based scheme. The designed preview gain matrix has a similar structure as the LQ-based one. As the infinity norm .gamma. of the transfer function matrix tends to .inf., the preview gains obtained by $H_{\infty}$ control method approach to the gains by the LQR. The LQ-based preview gains are verified to be subsets of the $H_{.inf}$ -based preview gains..

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최적제어 이론을 이용한 유도전동기의 속도제어 (The Speed Control of Induction Motor Using Optimal Control Theory)

  • 김정욱;김대호;박성욱;이영석;서보혁
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2001년도 하계학술대회 논문집 D
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    • pp.2063-2065
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    • 2001
  • This paper presents speed control of a three-phase Induction Motor(I.M.) based on the optimal control theory. This technique is based on the optimal preview controller. The proposed technique comprises a new error system, vector control of the I.M. and the preview feedforwad control loop. Preview feedforward steps are introduced into the control law to enhance the transient response and to improve the robustness of the controlled system. Some computer simulation studies are carried out.

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