• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.2
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• pp.83-91
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• 2003

Pantograph design Process must be considered in terms of stability of aerodynamics and reduction of aeroacoustics. Furthermore pantograph needs to be insensible to severe circumstance condition like typhoon, tunnel, a change of season. In this paper, robust design of panhead sections is conducted based on the Taguchi's design of experiment method. In the aeroacoustic noise analysis, an acoustic analogy using the Ffowcs Williams and Hawkings(FW-H) equation is used to calculate the flow induced sound pressure level in aeroacoustics. From the near-field CFD analysis data, the far-field noise is predicted at the positions of 25 m away from Pantograph. Based on aerodynamic(CFD) and aeroacoustic(FW-H) analysis data, the optimal sizing and Positioning of panhead elements are determined using robust design optimization method. Design parameters such as thickness, length and radius are controllable factors, while outdoor air temperature and atmospheric pressure are considered as uncontrollable factors in the context of Taguchi's approach. A number of CFD simulation and aeroacoustic analysis are performed based on orthogonal arrays. In this paper, two-step optimization method is used as a parameter design procedure. It is executed using signal to noise(S/N) ratio and analysis of means(ANOM) method. So Thus, an optimal level of design parameters Is extracted to minimize the disconnection ration between contact strips and catenary system, and reduce the far-field aeroacoustic noise.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.249-255
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• 2010

The paper proposes a new type of robust speed control strategy for permanent magnet synchronous motor by using PD-sliding mode hybrid control. The PD control has a good performance in the transient region while the sliding mode controller provides the robustness against system uncertainties. Taking advantages of the two control strategies, the proposed control method utilizes the PD control in the approaching region to the sliding surface and the sliding mode control near at the sliding surfaces. The chattering problem of the sliding mode controller is eliminated by applying the saturation function for the switching function of the sliding mode control. The stability of the sliding mode control is verified by using Lyapunov function with the proper selection of variable gains. It is shown that with this simple switching algorithm, stability of the overall hybrid control system is ensured. Through the simulations, the PD-sliding mode algorithm is shown to have a good performance in the transient response as well as being robust against disturbances. The robustness of the PD-sliding mode algorithm is further demonstrated against various external disturbances in the real experiments of SPMSM motor control.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.1
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• pp.12-18
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• 2010

This paper proposes an adaptive robust fuzzy control scheme for path tracking of a wheeled mobile robot with uncertainties. The robot dynamics including the actuator dynamics is considered in this work. The presented controller is composed of a fuzzy basis function network (FBFN) to approximate an unknown nonlinear function of the robot complete dynamics, an adaptive robust input to overcome the uncertainties, and a stabilizing control input. Genetic algorithms are employed to optimize the fuzzy rules of FBFN. The stability and the convergence of the tracking errors are guaranteed using the Lyapunov stability theory. When the controller is designed, the different parameters for two actuator models in the dynamic equation are taken into account. The proposed control scheme does not require the accurate parameter values for the actuator parameters as well as the robot parameters. The validity and robustness of the proposed control scheme are demonstrated through computer simulations.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.1235-1241
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• 2001

Pantograph design process must be considered in terms of stability of aerodynamics and reduction of aeroacoustics. Furthermore Pantograph needs to be insensible to severe circumstance condition like typhoon, tunnel, a change of season. In this paper, robust design of panhead sections is conducted based on the Taguchi's design of experiment method. In the aeroacoustic noise analysis, an acoustic analogy using the Ffowcs Williams and Hawkings (FW-H) equation is used to calculate the flow induced sound pressure level. From the near-field CFD analysis data, the far-field noise is predicted at the positions of 25m away from panhead contact strips. Based on aerodynamic (CFD) and aeroacoustic (FW-H) analysis data, the optimal sizing and positioning ofpanhead elements are determined using robust design optimization method. Design parameters such as thickness, length and radius are controllable factors, while outdoor air temperature and atmospheric pressure are considered as uncontrollable factors in the context of Taguchi's approach. A number of CFD simulation and aeroacoustic analysis are performed based on orthogonal arrays. Using a parameter design procedure associated with signal-to-noise (SIN) ratio and sensitivity analysis, an optimal level of design parameters are extracted to minimize the disconnection ratio between contact strips and catenary system, and reduce the far-field aeroacoustic noise.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1249-1255
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• 2004

A new parameter adaptation scheme for RBF Neural Network (NN) has been developed in this paper. Even though the RBF Neural Network (NN) based controllers are robust against both un-modeled dynamics and external disturbances, the performance is not satisfactory for a fast and precise mobile robot. To improve the tracking performance as well as robustness, all the parameters of RBF NN are updated in real time. The stability of this control law is rigorously proved by following the Lyapunov stability theory and shown by the experimental simulations. The fact that all of the weighting factors, width and center of RBF NN have been updated implies that this scheme utilizes all the possibilities in RBF NN to make the controller robust and precise while the mobile robot is following un-known trajectories. The performance of this new algorithm has been compared to the conventional RBF NN controller where some of the parameters are adjusted for robustness.

• Journal of KSNVE
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• v.6 no.5
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• pp.595-605
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• 1996

If the control force designed on the basis of the mathematical model with parameter errors is applied to control the actual system, the closed-loop performance of the actual system will be degraded depending on the degree of the errors, In this study, the effect of parameter errors on the robustness of several natural controls has been analyzed and compared. Every asymptoic stability condition for the natural controls has been derived using Lyapunov approach, and the characteristics of the stability conditions has also been compared. The extent of deviation of the closed-loop performance from the designed one for the natural controls is derived using operator techniques, and evaluated by numerical method. It has been found that the optimal control, acceleration feedback control, and acceleration-position feedback control among the considered natural controls would be robust one with respect to the parameter errors.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.285-287
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• 1992

This paper considers the design of robust stabilizing controller of a linear time-invariant digital system subject to variations of parameter vector. For a given controller the radius of the largest stability hypersphere in this parameter space is calculated. This radius is a measure of the stability Margin of the closed-loop system. Based on this calculation a design procedure is proposed to robustify a given stabilizing controller. This algorithm iteratively enlarges the stability hypersphere in parameter space and can be used to design a controller to stabilize a plant subject to given ranges of parameter perturbations. These results are illustrated by an example.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.193-196
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• 1992

When there exist parameter uncertainty, modelling errors and nonminimum phase zeros in control object system. the stability robustness of conventional LQG and LOG/LTR methods are not satisfactory[2, 8]. Since these methods are performed on the infinite horizon, it is very hard to establish exact design parameters and thus they have lots of problems to be applied to real systems, So in this paper we propose RHLQG/FIRF optimal controller which has robust stability against parameter uncertainty, nonminimum phase zeros and modelling errors. This method uses only the information around at present and therefore shows good performance even when we do not know exact design parameters. We here compare LQG and LQG/LTR method with RHLQG/FIRF controller and exemplify that RHLQG/FIRF controller has better robust stability performance via simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.272-272
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• 2000

since the controller is part or the overall closed-Loop system, it is necessary that the designed controller be able to tolerate some uncertainty in its coefficients. The adequate stability and performance margins are required for the designed nominal controllers. In the paper. we study the method to design the non-fragile fixed-structured controller for real parametric uncertain systems. When we impose the controller parameter perturbation, the structure of the controller must be given. Therefore, we assume that the controller has fixed-structure. The fixed-structure controller is practically necessary especially when the robust controller synthesis results in a high-order controller. In SISO systems, we propose the robust controller design method using the Mapping theorem. In the method, the plant uncertainty and controller Parameter are of the multilineal form in the stability and performance conditions. Then, the controller synthesis problem is easily recast to Linear Programming Problem.

• Journal of Industrial Technology
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• v.20 no.B
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• pp.35-43
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• 2000

Time Delay Control (TDC) method was proposed as a promising technique in the robust control area, where the plants have unknown dynamics with parameter variations and substantial disturbances are present. In this paper, based on the concepts of TDC, author propose a model reference control method for input/output model. The stability and robustness of the closed system has been analyzed for a class of linear time invarient (LTI) system. Then, in a simulation study, author's design method has been applied to a second order system, the result of which confirmed that the proposed control method performs satisfactorily as predicted.