• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.116.1-116
• /
• 2002

When the teleoperated system has a signal transmission time delay between slave and control system , the system stability as well as the position tracking and the force reflecting performances are likely to be deteriorated. This paper proposed a bilateral control scheme and a controller design method for the teleoperated control systems with a signal transmission time delay. The proposed controller is a modified type of smith predictor for the time delay in each input and output stage of an open loop unstable plant. The proposed controller not only satisfies the system internal stability but also improves the position tracking performance with disturbance rejection capability. The simulation...

• 한국기계가공학회지
• /
• 제20권4호
• /
• pp.66-72
• /
• 2021

Since the behavior of an autonomous underwater vehicle (AUV) is influenced by disturbances and moments that are not accurately known, the depth control law of AUVs must have the ability to track the input signal and to reject disturbances simultaneously. Here, we proposed robust tracking control for controlling the depth of an AUV. An augmented closed-loop system is represented by an error dynamic equation, and we can easily show the asymptotic stability of the overall system by using a Lyapunov function. The robust tracking controller is consisted of the internal model of the command signal and a state feedback controller, and it has the ability to track the input signal and reject disturbances. The closed-loop control system is robust to parameter uncertainties. Simulation results showed the control performance of the robust tracking controller to be better than that of a P + PD controller.

• 전력전자학회:학술대회논문집
• /
• 전력전자학회 2004년도 전력전자학술대회 논문집(2)
• /
• pp.874-877
• /
• 2004

This paper presents the bus controller analysis of a power control unit of GEO satellite with 3kW power output. The sensing error of bus voltage produce control signal of the shunt switch assembly and the battery power converter, and the tolerance of error signal generated decide the stability of proposed system. The worst case analysis considered for the initial tolerance, temperature effect, tolerance of end of life is peformed to verify a designed bus controller. And also, the stability of system proposed according to moving of zero and pole values by some component failures is analyzed.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 C
• /
• pp.1033-1036
• /
• 1998

In this research project, two aspects of small signal stability are studied: improvement in Hessenberg method to compute the dominant electromechanical oscillation modes and siting FACTS devices to damp the low frequency oscillation. Fourier transform of transient stability simulation results identifies the frequencies of the dominant oscillation modes accurately. Inverse transformation of the state matrix with complex shift equal to the angular speed determined by Fourier transform enhances the ability of Hessenberg method to compute the dominant modes with good selectivity and small size of Hessenberg matrix. Any specified convergence tolerance is achieved using the iterative scheme of Hessenberg method. Siting FACTS devices such as SVC, STACOM, TCSC, TCPR and UPFC has been studied using the eigen-sensitivity theory of augmented matrix. Application results of the improved Hessenberg method and eigen-sensitivity to New England 10-machine 39-bus and KEPCO systems are presented.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 F
• /
• pp.2712-2714
• /
• 1999

The small signal model for input series-output parallel connected converter system employing charge control together with input capacitor voltage feedback loop is developed. From the model developed, the effect of input capacitor voltage feedback loop to the system stability and outer loop compensator design is analyzed. Theoretical results and simulation show that input capacitor voltage feedback loop has no critical effects on the system stability, so the system can be reduced to a equivalent single module for the stability analysis and outer loop compensator design.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
• /
• pp.1069-1074
• /
• 1989

A discrete-time learning control for robotic manipulators is studied using its pulse transfer function. Firstly, discrete-time learning stability condition which is applicable to single-input two-outputs systems is derived. Secondly, stability of learning algorithm with position signal is studied. In this case, when sampling period is small, the algorithm is not stable because of an unstable zero of the system. Thirdly, stability of algorithm with position and velocity signals is studied. In this case, we can stabilize the learning control system which is unstable in learning with only position signal. Finally, simulation results on the trajectory control of robotic manipulators using the discrete-time learning control are shown. This simulation results agree well with the analytical ones.

• Nuclear Engineering and Technology
• /
• 제41권1호
• /
• pp.71-78
• /
• 2009

One of main concepts involved in regional small nuclear reactors is unmanned remote control. Internet-based virtual private networks provide environments for the remote monitoring and control of geographically-dispersed systems, and with the advances in communication technologies, the potential of networks for real time control and automation becomes enormous. However, networked control has some problems. The most critical is delay in signal transmission, which degrades system stability and performance. Therefore, a networked control system should be designed to account for delay. This paper proposes some design approaches for a delay-tolerant system that can guarantee predetermined stability margins and performance. To accomplish this, the reactor plant is modeled with consideration of uncertainties. With this model, three kinds of controllers are developed using different methods. The designed systems are compared with respect to stability and performance, and a second-order controller designed using the table lookup method was found to give the most satisfactory results.

• 한국정밀공학회지
• /
• 제1권1호
• /
• pp.34-49
• /
• 1984

The stability of machine tool systems is analyzed by considering the machining process as a stochastic process without decomposing into machine tool structural dynamics and cutting processes. In doing so the time series analysis technique developed by Wu and Pandit is applied systematically to the relative vibration between cutting tool and work- piece measured under actual working conditions. Various characteristic properties derived from the fitted ARMA(Autoregressive Moving Average) Models and those from raw data directly are investigated in relation with the system stability. Both damping ratio and absolute value of the characteristic roots of the AR part of the most significant dynamic mode are preferred as stability indicating factors to the other pro-perties such as theoretical variance .gamma. (o) or absolute power of the most dominant dynamic mode. Maximum aplitude during a certain interval and variance estimated from raw data are shown to be very sensi- tive to the type of the signal and the location of measurement point although they can be obtained rather easily. The relative vibration signal is also analyzed by FFT(Fast Fourier Transform) Analyzer for the purpose of comparison with the spectrums derived from the fitted ARMA models.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
• /
• pp.685-688
• /
• 1998

In this research project, two aspects of small signal stability are studied: improvement in Hessenberg method to compute the dominant electromechanical oscillation modes and siting FACTS devices to damp the low frequency oscillation. Fourier transform of transient stability simulation results identifies the frequencies of the dominant oscillation modes accurately. Inverse transformation of the state matrix with complex shift equal to the angular speed determined by Fourier transform enhances the ability of Hessenberg method to compute the dominant modes with good selectivity and small size of Hessenberg matrix. Any specified convergence tolerance is achieved using the iterative scheme of Hessenberg method. Siting FACTS devices such as SVC, STACOM, TCSC, TCPR and UPFC has been studied using the eigen-sensitivity theory of augmented matrix. Application results of the improved Hessenberg method and eigen-sensitivity to New England 10-machine 39-bus and KEPCO systems are presented.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 추계학술대회 논문집 학회본부A
• /
• pp.365-368
• /
• 1998

In this research project two aspects of small signal stability are studied: improvement in Hessenberg method to compute the dominant electromechanical oscillation modes and siting FACTS devices to damp the low frequency oscillation. Fourier transform of transient stability simulation results identifies the frequencies of the dominant oscillation modes accurately. Inverse transformation of the state matrix with complex shift equal to the angular speed determined by Fourier transform enhances the ability of Hessenberg method to compute the dominant modes with good selectivity and small size of Hessenberg matrix. Any specified convergence tolerance is achieved using the iterative scheme of Hessenberg method. Siting FACTS devices such as SVC, STACOM, TCSC, TCPR and UPFC has been studied using the eigen-sensitivity theory of augmented matrix. Application results of the improved Hessenberg method and eigen-sensitivity to New England 10-machine 39-bus and KEPCO systems are presented.