• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.6
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• pp.1036-1043
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• 1987

The objective of this paper is to improve the transient response characteristics of hydraulic servosystem via a reduced-order observer which is modelled based upon the nonlinear hydraulic servosystem. The observer is a second order linear model and implemented using a 8 bit micro-computer. The performance of the observer-based hydraulic servosystem was investigated through the hybrid computer simulations and experiments. The result shows that the reduced-order observer can effectively improve the transient response characteristics of hydraulic servosystem.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.1-8
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• 1997

In order to reject the steady-state tracking error, it is common to introduce integral compensators in servosystems for constant reference signals. However, if the mathematical model of the plant is exact and no disturbance input exists, the integral compensation is not necessary. From this point of view, a two-degree-of-freedom(2DOF) servosystem has been proposed, in which the integral compensation is effective only when there is a modeling error or a disturbance input. The present paper considers robust stability of this 2DOF servosystem incorporating an observer to the structured and unstructured uncertainties of the controlled plant. A robust stability condition is obtained using Riccati inequality, which is written in a linear matrix inequality (LMI) and independent of the gain of the integral compensator. This result impies that if the plant uncertainty is in the allowable set defined by the LMI condition, a high-gain integral compensation can be carried preserving robust stability to accelerate the tracking response.

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

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

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.266-271
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• 1989

In eliminating the nonliner charateristics such as piston displacement drift and difference in speeds of the reciprocating motion due to their nonsymetrical structure of single rod cylinder, modelling was carried out by additional outside disturbance, suggest the position control of single rod cylinder servosystem using VSS and compared with PD control of fixed structure system.

• Journal of Advanced Marine Engineering and Technology
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• v.16 no.1
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• pp.27-34
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• 1992

In eliminating the nonlinear characteristics such as piston displacement dift and difference in speeds of the reciprocating motion due to their nonsymetrical structure of single rod cylinder, the linear model can be given by equivalent outside disturbance, etc. The position control method of single rod cylinder servosystem using the sliding mode control of VSS was suggested and the good results without off-set are compared with PD control of fixed structure system.

• Journal of Power System Engineering
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• v.13 no.6
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• pp.43-50
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• 2009

If an internal combustion engine is operated by consolidated control, the minimum fuel consumption is achieved satisfying the demanded objectives. For this, it is necessary that the engine is operated on the ideal operating line which satisfies minimum fuel consumption. In this context of view, there are many tries to achieve given object. However, the parameter in the internal combustion engines are variable and depend on the operating points. Therefore, it is necessary to cope with the uncertainties such that the optimal operating may be possible. From this point of view, this paper gives a controller design method and a robust stability condition for engine torque control which satisfies the given control performance and robust stability in the presence of physical parameter perturbation. Exactly, the present paper considers a robust stability of this 2DOF servosystem with nonlinear type uncertainty in the engine system, and a robust stability condition for the servosystem is introduced. This result guarantees that if the plant uncertainty is in the permissible set defined by the given condition then a gain tuning can be carried out to suppress the influence of the plant uncertainties.

• Journal of Ocean Engineering and Technology
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• v.20 no.5 s.72
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• pp.57-62
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• 2006

The most important thing in acontainer terminal is to handle the cargo effectively in the limited time available. To achieve this objective, many strategies have been introduced and applied. To create an automated container terminal, it is necessary for the cargo handling equipment to be equipped with more intelligent control systems. From the middle of the 1990's, automated rail-mounted gantry cranes (RMGC) and rubber-tired gantry cranes (RTG) have been widely used to handle containers in yards. Recently, many pieces of equipment, like CCD cameras and sensors, have beenmounted in these cranes to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes, which allow for more effective cargo handling in yards. For this purpose, the modeling, tracking control, anti-sway system design, skew motion suppressing, and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modeling and a new tracking control approach are discussed, and an experimental study is performed based on a two-degree-of-freedom (2DOF) servosystem design.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1029-1037
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• 2010

If an internal combustion engine is operated by consolidated control, the minimum fuel consumption is achieved and the demanded objectives are satisfied. For this, it is necessary that the engine is operated on the ideal operating line which satisfies minimum fuel consumption. In this context of view, there are many tries to achieve given object. However, the parameters in the internal combustion engines are variable and depend on the operating points. Therefore, it is necessary to cope with the uncertainties such that the optimal operating may be possible. From this point of view, this paper gives a controller design method and a robust stability condition for engine torque control which satisfies the given control performance and robust stability in the presence of physical parameter perturbation. Exactly, in this paper, we consider the robust stability problem of this 2DOF servosystem with nonlinear type uncertainty in the engine system, and a robust stability condition for the servosystem is shown. This result guarantees that if the plant uncertainty is in the permissible set defined by the given condition, then a gain tuning can be carried out to suppress the influence of the plant uncertainties.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.2
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• pp.329-339
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• 2002

In ship operation the consequency of roll motions can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization control system design have been performed and very good results have been achieved. In many studies, the stabilizing fins are used. Recently rudders, which have been extensively modified, have been used to exclusively to stabilize the roll. This paper examines the two-degree-of-freedom servosystem design technique to synthesize the yaw control system which achieves the course keeping object of the ship and the H$_{\infty}$ control approach to suppress the roll motion, respectively.