• 전자공학회논문지SC
• /
• 제39권1호
• /
• pp.51-65
• /
• 2002

본 논문에서는 혼돈 비선형 시스템의 지능 제어를 위해 간접 적응 제어 방식에 기초한 신경 회로망 제어기 설계 방법을 제안하였다. 제안된 제어 방법은 혼돈 비선형 시스템의 동정을 위해 다층 신경 회로망과 간단한 상태 공간 신경 회로망을 사용한 직-병렬 동정 구조를 이용하여 오프 라인으로 동정 과정을 수행하였으며, 학습된 혼돈 비선형 시스템에 대한 신경 회로망 모델을 사용하여 온 라인으로 제어를 수행하였다. 이때 혼돈 비선형 시스템의 동정 및 제어를 위한 학습 방법은 오차 역전파 방법을 사용하였다. 한편 본 논문에서 제안된 제어 방법을 연속 시간 혼돈 비선형 시스템인 Duffing 방정식과 Lorenz 방정식에 각각 적용하여 신경 회로망을 사용한 기존의 제어 방법과 컴퓨터 모의 실험을 통해 제어 성능을 비교 및 고찰하였다.

• 한국철도학회논문집
• /
• 제16권3호
• /
• pp.169-174
• /
• 2013

고성능 EMU 열차의 형상 개선을 통한 공기저항 저감 효과를 알아보기 위하여 3차원정상 Navier-Stokes 방정식과 2방정식 난류 모델을 이용한 전산유체역학을 이용하여 수치해석을 수행하였다. 전산시뮬레이션에는 FLUENTTM ver.13과 Gambit 2.4.6이 사용되었으며, 기본 형상과 유선형으로 개선된 형상에 대하여 계산을 수행하였다. 또한, 터널 내 주행 시의 공기저항 특성을 살펴보기 위하여 개활지에서의 공기저항 계산도 수행하였으며, 차량 별 공기저항 기여도에 대한 분석도 수행되었다. 유선형으로 개선된 형상의 열차는 절편형 전두부와 돌출된 상부 및 하부구조를 가진 기본 형상 열차에 비하여 약 9.8%의 공기저항이 저감된 것을 확인하였으며, 공기저항 저감에 따른 주행저항의 저감은 시속 80km/h에서 약 4%에 이르는 것으로 나타났다.

• 전자공학회논문지T
• /
• 제36T권3호
• /
• pp.41-49
• /
• 1999

본 논문에서는 μ-합성법으로 제어기를 설계하여 센서와 구동부가 동일위치에 있지 않은(noncollocated) 탄성-질량 시스템에 적용한다. 스프링 상수값과 제어대상의 부하 질량은 불확실하다고 가정한다 매개변수 불확실성을 포함하고 있는 제어대상은 상태 공간 방정식, 특히 묘사형(descriptor form)을 사용하여 모델링 한다. μ-합성법으로 설계된 H/sub ∞/ 제어기를 표준 H/sub ∞/ 제어기와 비교한다. 두 개의 H/sub ∞/ 제어기 성능을 비교하기 위해, μ-합성 제어기가 구조적 불확실성을 가지고 있다는 것을 제외하고는 서로 동일한 하중함수를 가지고 설계한다. 표준 H/sub ∞/ 제어기와 비교하여 설계된 제어기는 만족스러운 강건 안정성과 강건 성능을 가지는 것을 시뮬레이션과 실험을 통해 확인한다.

• 한국공간구조학회논문집
• /
• 제14권4호
• /
• pp.97-104
• /
• 2014

Recently, a concept of damped outrigger system has been proposed for tall buildings. Structural characteristics and design method of this system were not sufficiently investigated to date. In this study, control performance of damped outrigger system for building structures subjected to seismic excitations has been investigated. And optimal design method of damped outrigger system has been proposed using multi-objective genetic algorithm. To this end, a simplified numerical model of damped outrigger system has been developed. State-space equation formulation proposed in previous research was used to make a numerical model. Multi-objective genetic algorithms has been employed for optimal design of the stiffness and damping parameters of the outrigger damper. Based on numerical analyses, it has been shown that the damped outrigger system control dynamic responses of the tall buildings subjected to earthquake excitations in comparison with a traditional outrigger system.

• 한국자동차공학회논문집
• /
• 제20권6호
• /
• pp.126-131
• /
• 2012

Tire force is one of important parameters which determine vehicle dynamics. However, it is hard to measure tire force directly through sensors. Not only the sensor is expensive but also installation of sensors on harsh environments is difficult. Therefore, estimation algorithms based on vehicle dynamic models are introduced to estimate the tire forces indirectly. In this paper, an estimation system for estimating lateral force and states is suggested. The state-space equation is constructed based on the 3-DOF bicycle model. Extended Kalman Filter, Unscented Kalman Filter and Ensemble Kalman Filter are used for estimating states on the nonlinear system. Performance of each algorithm is evaluated in terms of RMSE (Root Mean Square Error) and maximum error.

• 전력전자학회논문지
• /
• 제19권5호
• /
• pp.422-430
• /
• 2014

This study proposes a small-signal model and control design for a two-stage DC-DC-AC converter to investigate its dynamic characteristics in relation to battery energy storage system. When the circuit analysis of the two-stage DC-DC-AC converter is attempted simultaneously, the mathematical procedure of deriving the dynamic equation is complex and difficult. The main idea of modeling the two-stage DC-DC-AC converter states that this topology is separated into a bidirectional DC-DC converter and a single-phase inverter with an equivalent current source corresponding to that of the inverter or converter. The dynamic equations for the separated converter and inverter are then derived using the state-space averaging technique. The procedures of building the small-signal model of the two-stage DC-DC-AC converter are described in detail. Based on the derived small-signal model, the individual controllers are designed through a frequency-domain analysis. The simulation and experimental results verify the validity of the proposed modeling approach and controller design.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
• /
• pp.213-218
• /
• 1991

A new model which contains the dynamics of the motor system and the kinematics of the timing belt system is derived for an inverted pendulum system in FAPA Lab. Generalized standard compensator configuration(SCC) which contains the variable design parameters Kl, K2, .., K5 is proposed so that any desired design specification can be achieved. The robust controller which has robust property against the influence of sensor noise, system parameter variation and model uncertainty is designed minimizing the H$_{\infty}$-norm of transfer function from exogenous input to controlled output. The method of solving the two Riccati equations in state space and determining the controller uses on iteration method where the unique stabilizing solution to two algebraic Riccati equation must be positive definite and the spectral radius of their product less than .gamma.$^{2}$. Some cases are derived by varying the design parameter for simulation on a digital computer and experimenting the H$_{\infty}$- controller on an analog computer. The design parameters of controller which satisfies the desired control specification is selected on the basis of the simulation result and experimenting. The reasonableness and validity of the simulation and the robustness of the controller is established.d.

• 제어로봇시스템학회논문지
• /
• 제15권12호
• /
• pp.1175-1183
• /
• 2009

In photovoltaic(PV) generator systems, DC-DC converters are significantly considered for control system performance in power quality point of view. This paper presents a novel adaptive control method for DC-DC converters applied in PV generator systems. First, we derive a state-space average model of the converter system and then propose a reset control methodology to enhance transient response performance for time-varying PV systems. For estimating parameters of a reset control, a gradient descent optimization is utilized and an adjustment rule of them are derived respectively. An objective of the optimization is that characteristic equation of an augmented system model which is formed with an converter system model and an reset control is to trace a predefined polynomial given as a reference characteristic model. Next, we accomplish stability analysis by means of a well-known Lyapunov theory for nonlinear converter systems including time-varying voltage excitation from a PV generator. Numerical simulation demonstrates reliability of our control methodology and its superiority by comparison to a traditional control strategy.

• 대한기계학회논문집A
• /
• 제20권11호
• /
• pp.3560-3572
• /
• 1996

This paper presents a new discrete-time fuzzy-sliding mode controller for robust vibration control of a smart structure featuring a piezofilm actuator. A governong equation of motion for the smart beam structure is derived and discrete-time codel with mismatched uncertainties such as parameter variations is constructed ina state space. A discrete-time sliding mode control system consisting of an equivalent controller and a discontinuous controller is formulated. In the design of the equivalent part, so called an equivalent controller separation method is adopted to achieve vzster convergence to a sliding surface without extension of a sliding region, in which the system robustness maynot be guaranteed. On the other hand, the discontinuous part is constructed on the basis of both the sliding and the convergence conditions using a time-varying feedback gain. The sliding moide controller is then incorporated with a fuzzy technique to appropriately determine principal control parameters such as a discountinuous feedback gain. Experimental implementation on the forced and random vibraiton controls is undertaken in order to demonstrate superior control performance of the proposed controller.

• 한국생산제조학회지
• /
• 제20권5호
• /
• pp.589-597
• /
• 2011

In this paper, optimal tuning of a cross-coupled controller linked with the feedforward controller and the disturbance observer is studied to improve contouring and tracking accuracy as well as robustness against disturbance. Previously developed integrated design and optimal tuning methods are applied for developing the robust tuning method. Strict mathematical modeling of the multivariable system is formulated as a state-space equation. Identification processes of the servomechanism are conducted for mechanical servo models. An optimal tuning problem to minimize both the contour error and settling time is formulated as a nonlinear constrained optimization problem including the relevant controller parameters of the servo control system. Constraints such as relative stability, robust stability and overshoot, etc. are considered for the optimization. To verify the effectiveness of the proposed optimal tuning procedure, linear and circular motion experiments are performed on the xy-table. Experimental results confirm the control performance and robustness despite the variation of parameters of the mechanical subsystems.