• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.995-1000
• /
• 2004

A digital adaptive flight control system is presented for a Japanese automatic landing flight experiment vehicle (ALFLEX). In previous adaptive control systems based on a linear-parameter-varying (LPV) form, the output behavior was excellent, while the behavior of the adjusted parameters was unsatisfactory. In the present study, to obtain a more appropriate parameter adjustment law, the relationship between the coefficient matrices in a continuous-time state equation and the coefficients of a pulse transfer function in a discrete system for conventional aircraft is investigated. As a result, it is revealed that the coefficients of the numerator can be treated as a linear function of dynamic pressure (linear-parameter-varying: LPV), while the coefficients of the denominator can be treated as constant (linear-time-invariant: LTI). From the above analysis, an improved parameter adjustment law is derived by reducing the number of the adjustment parameters. Simulation results also revealed both good output tracking and good parameter adjustment compared with the previous results.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.40.1-40
• /
• 2002

1. Introduction 2. Vehicle Equations of Motion 3. Discrete Model of the Plant with an Unmodeled Dynamics 4. Design of an Adaptive Control 5. Parameter Adjustment Law 6. Numerical Simulations 7. Summary

• Journal of Institute of Control, Robotics and Systems
• /
• v.2 no.2
• /
• pp.67-72
• /
• 1996

This paper presents a parameter adaptive control law that stabilizes and asymptotically regulates any single-input, linear time-invariant, controllable and observable, discrete-time system when only the upper bounds on the order of the system is given. The algorithm presented in this paper comprises basically a nonlinear state feedback law which is represented by functions of the state vector in the controllable subspace of the model, an adaptive identifier of plant parameters which uses inputs and outputs of a certain length, and an adaptive law for feedback gain adjustment. A new psedu-inverse algorithm is used for the adaptive feedback gain adjustment rather than a least-square algorithm. The proposed feedback law results in not only uniform boundedness of the state vector to zero. The superiority of the proposed algorithm over other algorithms is shown through some examples.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.5
• /
• pp.92-99
• /
• 1997

A model reference adaptive control(MRAC) theory is very useful for controlling a plant of which the parameters are unknown or vary during operation usint only input-output signal of plant. In this study, 2' nd order discreter time MRAC controller is designed for an electrohydraulic position control system which is represented with nonlinear mathematical model and the least square method is adopted for the para-meter adjustment law. This control algorthm is applied to the position control of electrohydraulic servosystem through computer simulation and the effect of the change of load, sampling time upon the performance following reference model and upon the performance of estimating plant parameters are examined.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.26 no.8
• /
• pp.1167-1177
• /
• 1989

In this paper, a generalized adaptive law is proposed which uses a rational function type operator for parameter adjustment. To satisfy the passivity condition of the adaptation block, we introduce a constant feedback gain into the adaptation block. This adaptation scheme is applied to the model reference adaptive control of a continuous-time, linear time-invariant, minimum-phase system whose relative degree is 1. We prove the asymptotic stability of the output error of this adaptive system by hyperstability method. It is shown that by digital computer simulations this law can give a better output error transient response in some cases than the conventional gradient adaptive law. And the output error responses for the several types of the proposed adaptation law are examined in the presence of a kind of unmodeled dynamics.

• Proceedings of the KIEE Conference
• /
• 1996.07b
• /
• pp.1060-1062
• /
• 1996

This paper presents a discrete adaptive observer for MIMO system of an IM model in DQ reference model. The IM model in the stationary frame is discretized and it is transformed into the canonical observer form. The unknown parameter is choosen as rotor speed. The adaptive law for parameter adjustment is obtained as a set of recursive equations which are derived by utilizing an exponentially weighted normalized least-square method. The proposed adaptive observer converges rapidly and is also shown to track time-varying plant parameter quickly. Its effectiveness has been demonstrated by computer simulation.

• Proceedings of the IEEK Conference
• /
• 1998.10a
• /
• pp.413-416
• /
• 1998

Sensitivity and calibration considerations are most important in the design and implementation of real control systems. Ideally parameter changes due to various causes should not appreciably affect the system's performances. But all the values of physical components of the plants and controllers as well as the relevant environmental conditions change in time, thus the output performance can be deteriorated during the operating span of the system. Naturally the duty of calibration or the prevention of performance deterioration due to excessive component sensitivity should be provided to the control system. In this paper, we propose a digital controller which has the capability of calibration and gain adjustment as well as the execution of control law. Specifically the problems of gain adjustment and offset calibration in the light source and CdS sensor module for position measurement in a flexible link system are considerably resolved. The parameters of measurement module are prone to change due to environmental brightness conditions resulting in poor steady state performance of the overall control system. Thus a proper method is necessary to provide correction to the changed values of gain and offset in the position measurement module. The proposed controller, whenever necessary, measures the open-loop characteristics, andthen calculates the offset and sensor gain correction values based on the prepared standard measurements. It is applied to the control of a flexible link system with the gain and offset calibration porblems in the light sensor module for position to show the applicability.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.11
• /
• pp.151-157
• /
• 2000

The MRAC theory has proved to be one of the most popular algorithms in the field of adaptive control, particularly for practical application to devices such as an hydraulic servosystem of which parameters are unknown or varying during operation. For small sampling period, the discrete time system becomes a nonminimal phase system. The $\delta$-MRAC was introduced to obtain the control performance of nonminimal phase system, because the z-MRAC can not control the plant for small sampling period. In this paper, $\delta$-MRAC is applied to the control of an hydraulic servosystem which is composed of servovalve, hydraulic cylinder and inertia load.

• Geomechanics and Engineering
• /
• v.29 no.5
• /
• pp.509-522
• /
• 2022

Tail-grouting is an effective measure in shield engineering for filling the gap at the shield tail to reduce ground deformation. However, the gap-filling ratio affects the value of the gap parameters, leading to different surface settlements. It is impossible to adjust the fill ratio indiscriminately to study its effect, because the allowable adjustment range of the grouting quantity is limited to ensure construction site safety. In this study, taking the shield tunnel section between Chaoyanggang Station and Shilihe Station of Beijing Metro Line 17 as an example, the correlation between the tail-grouting parameter and the surface settlement is investigated and the optimal grouting quantity is evaluated. This site is suitable for conducting field tests to reduce the tail-grouting quantity of shield tunneling over a large range. In addition, the shield tunneling under different grouting parameters was simulated. Furthermore, we analyzed the evolution law of the surface settlement under different grouting parameters and obtained the difference in the settlement parameters for each construction stage. The results obtained indicate that the characteristics of the grout affect the development of the surface settlement. Therefore, reducing the setting time or increasing the initial strength of the grout could effectively suppress the development of surface subsidence. As the fill ratio decreases, the loose zone of the soil above the tunnel expands, and the soil deformation is easily transmitted to the surface. Meanwhile, owing to insufficient grout support, the lateral pressure on the tunnel segments is significantly reduced, and the segment moves considerably after being removed from the shield tail.