• 한국정밀공학회지
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• 제12권10호
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• pp.157-165
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• 1995

The new formulation of designing the two degree of freedom(TDF) robust controller is proposed using $H_{\infty}$optimization and model matching method. In this formulation the feedback controller and feedforward controller are designed in a single step using $H_{\infty}$optimization procedure. Roughly speaking, the feedback controller is designed to meet robust stability and disturbance rejection specifications, while the feedforward controller is used to improve the robust model matching properties of the closed loop system. The proposed formulation will be illustrated and evaluated on a seeker scan-loop. And the performances of TDF robust controller are compared with those of the $H_{\infty}$ controller designed using Loop Shaping Design Procedure proposed by McFarlane and Glover.lover.

• 한국정밀공학회지
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• 제14권11호
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• pp.102-109
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• 1997

A two-degree-of freedom (TDF) $H_{\infty}$controller for a seeker scan loop is presented for the purpose of improving scanning performances. The perturbed plant model is characterized via the normalized coprime factorization. The TDF $H_{\infty}$controller is designed based on the loop shaping design procedure and model matching approach, and its performances are evaluated and compared with those of a previous work. It is demonstrated that the proposed TDF $H_{\infty}$controller is more effective to the control of the seeker scan loop than the previous controller.oller.

• 전자공학회논문지S
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• 제35S권5호
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• pp.35-41
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• 1998

This paper presents a decoupling controller of the missile seeker scan loop with a spin-stabilized platform. A precise seeker motion with respect to the scan command is essential for the higher acquisition probability of the target. As the seeker scan loop is a deeply cross-coupled two input two output system, an accurate pointing or scanning for each axis to the target is very difficult, even though provided with the help of a high performance controller. When a decoupling control is applied to the seeker scan loop, the cross-coupling between two axes can be reduced to a remarkable amount. As a low order of controller is required for the real time operation, a PI controller with decoupling filter is suggested and compared with other controllers. A linearized dynamic model of seeker scan loop is used and validated through the comparison of experimental results of step responses.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.380-384
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• 1996

This paper represents an adaptive position controller with the disturbance observer for multi-axis servo system. The overall control system consists of three parts : the position controller, the disturbance observer with free parameters and cross-coupled controller which enhances contouring performance by reducing errors. Using two-degrees-of freedom conception, we design the command input response and the closed loop characteristics independently. The servo system can improve the closed loop characteristics without affecting the command input response. The characteristics of the closed loop system is improved by suppressing disturbance torque effectively with the disturbance observer. Moreover, the cross-coupled controller enhances tracking performance. Thus total position control performance is improved. Finally, the performance of the proposed controller shows that it improves the contouring performance along with the reference trajectory in the XY-table.

• 대한전기학회논문지
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• 제45권4호
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• pp.582-589
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• 1996

In this paper, an adaptive control problem of a hydraulic actuator for vehicle active suspension controller is divided into two parts: the inner loop controller and the outer loop controller. Inner loop controller, which is a nonlinear adaptive controller, is designed to control the force generated by the nonlinear hydraulic actuator acting under the effects of Coulomb friction. For simplicity of designing a nonlinear controller, the spool valve dynamics of a hydraulic actuator is reduced using a singular perturbation technique. The estimation error signal used to an indirect parameter adaptation is calculated without a regressor filtering. The absolute velocity of a sprung mass will be damped down by its negatively proportional term(sky-hook damper) adopted as an outer loop controller. Simulation results are presented to show the importance of controlling the actuator force and the validity of the proposed adaptive controller. (author). refs., figs. tab.

• 제어로봇시스템학회논문지
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• 제10권5호
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• pp.385-394
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• 2004

This paper proposes the generalized structure of a model-based disturbance rejection controller called a Robust Internal-loop Compensator (RIC). The framework consists of the RIC in the internal-loop to eliminate disturbances and a feedback controller in the external-loop to achieve nominal control performance. As the main contribution of this paper, we redefine the design problem of the RIC as a regulation control problem, then show that this new definition with the RIC structure provides more design flexibility and less implementation constraints. This is verified through a comparative structural analysis with Disturbance Observer (DOB) and Adaptive Robust Control (ARC). Two design examples of the RIC are given, along with practical issues that should be considered in the design procedure. The proposed framework is demonstrated by simulations of a rotary-type motor and experiments with a linear-type motor system.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2018년도 전력전자학술대회
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• pp.282-283
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• 2018

본 연구에서는 양방향 인버터의 해석과 설계 방법을 Matlab SISO TOOL과 PSIM을 이용한 Two Loop Control방법으로 제안하였다. 일반적인 회로 및 제어기 설계 방법으로는 회로와 제어기를 각각 설계하여 시제품으로 측정하는 방법과 이상적인 모델을 이용하여 시뮬레이션 하는 방법을 사용한다. 본 논문에서는 상용소자모델로 구성된 인버터를 PSIM으로 설계하였고, Matlab을 이용하여 시뮬레이션 함으로써 일반적인 방법보다 높은 신뢰성을 가지는 시뮬레이션 방법을 제안한다.

• 한국통신학회논문지
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• 제28권11C호
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• pp.1062-1069
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• 2003

본 논문에서는 요구된 성능을 만족시키는 강인한 최적 PID 제어기 설계를 위한 새로운 루프 형성 기법을 제안 하고자 한다. 설계하고자 하는 PID 제어기의 영점들을 플랜트의 최대 극점에 근접하도록 가중치 요소 Q와 R을 선택하면 루프 형상이 고주파수 영역의 센서잡음 장벽으로부터 최대한 멀어지게 된다. 2차 시스템에 대하여 강인한 최적 PTD 제어기 설계가 가능한 새로운 루프 형성 기법은 LQR 방법에서 발전되었다.

• Journal of Advanced Marine Engineering and Technology
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• 제38권10호
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• pp.1287-1296
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• 2014

This paper is about control of Automated Guided Vehicle for path following using fuzzy logic controller. The Automated Guided Vehicle is a tricycle wheeled mobile robot with three wheels, two fixed passive wheels and one steering driving wheel. First, kinematic and dynamic modeling for Automated Guided Vehicle is presented. Second, a controller that integrates two control loops, kinematic control loop and dynamic control loop, is designed for Automated Guided Vehicle to follow an unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on two PID controllers are proposed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.

• 전력전자학회논문지
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• 제21권6호
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• pp.457-464
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• 2016

This study proposes a bi-directional buck-boost converter controller design method for ESS using the MATLAB SISO tool. The conventional two-loop controller design is based on a continuous S-domain model that designs each controller independently. The demerit of the conventional method is that optimal performance is not easily achieved and extensive trials and errors are required because two-loop systems interact with one another. Using the MATLAB SISO tool based on the design method proposed in this work overcomes the disadvantages of the conventional method. In the proposed method, the SISO tool can select the location of the poles and zeroes of the open loop system, thereby facilitating the effective design of a high-performance controller. The design sequence is detailed systematically, and the performance of the method is verified with a computer simulation and 10 kW experimental system.