• 제어로봇시스템학회논문지
• /
• 제8권5호
• /
• pp.351-356
• /
• 2002

This papaer deals with a model reduction problem for linear systems with time varying parameters. For this problem, a controllability Grammian and an observability Grammian are introduced and computed by solving linear matrix inequalities. Using the controllability/observability Grammian, a balanced state space realization for linear parameter varying systems is obtained. From the balanced state space realization, a reduced model can be obtained by truncating not only states but also time varying parameters and an upper bound of the model reduction error is derived as well.

• 대한수학회보
• /
• 제38권1호
• /
• pp.29-53
• /
• 2001

This note presents a an indirect adaptive control scheme for first-order continuous-time systems. The estimated plant model is controllable and then the adaptive scheme is free from singularities. The singularities are avoided through a modification of the estimated plant parameter vector so that its associated Sylvester matrix is guaranteed to be nonsingular. That properties is achieved by ensuring that the absolute value of its determinant does not lie below a positive threshold. A modification scheme based on the achievement of a modified diagonally dominant Sylvester matrix of the parameter estimates is also given as an alternative method. This diagonal dominance is achieved through estimates modification as a way to guarantee the controllability of the modified estimated model when a controllability measure of the ‘a priori’ estimated model fails. In both schemes, the use of a hysteresis switching function for the modification of the estimates is not required to ensure the nonsingularity of the Sylvester matrix of the estimates.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1997년도 하계학술대회 논문집 F
• /
• pp.2078-2081
• /
• 1997

IP speed controller is used as a main controller and it makes the system low overshoot and easy controllability. Load torque is estimated by Kalman filter algorithm and parameter controller is used against a rotor inertia negative variations. Parameter Controller (PC) is equipped with a torque observer implemented by software of a digital signal Processor. PC is a parameter controller which selects a moment of inertia J in responding to a load torque to control the system response.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1651-1654
• /
• 1997

Restiction of vertical and lateral accelerations is one of the very important requierments which has to be satisfied on the practice of automatically controlled flights of the civil aviation passenger planes. This goal could be achived on the basis of the optimization procedure using specilly constructed quadratic performance index. In the report the application of this procedure to the parameteric optimization of the control laws with known structure for autopilot of midium-size aircraft in the level flight model is demonstrated. Performance index is calculted on the basis of the controllability grammian. Results of simulation of control processes in the lateral and longitudinal channels sre represented.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1663-1666
• /
• 1997

The purpose of this paper is to find how to determine the controllability and stability derivatives form flight test and to display the stability of the Twinbee aircraft. There are various methods developed to find the derivatives : wind tunnel testing, predicted result from empirical data, flight test and so on. Among those methods, the estimation form flight test of real aricraft is the most reliable. We performed the flight test of Twinbee and recorded the states of aorcraft. Using those states and parameter setimation algorithem based on the Maximum Likdlihood(MMLE) criterion, we can estimate the controllability and stability derivatives. In this paper, wel will show the process form designing the proper flight test input to estimation of derivatives.

• 대한전자공학회논문지
• /
• 제24권1호
• /
• pp.20-27
• /
• 1987

The hierarchical approach method is proposed to sperate each different time scale sub-systems from linear time invariant multi-parameter singular perturbation systems. By means of this proposal, the original multi-parameter singular perturbation systems is completely separated into independent subsystems with each different time scale. It is also investigated that the controllability of the system is invariant. And this paper applies singular perturbation methods to the minimum control effort problem for linear time invariant systems with constrained controls. Also near-optimum control theory, which is based on dividing the total time interval with the time scales respectively, is proposed. As a result, the time scale separation method is show to be particularly useful in a near optimum design which can be otained through a decentralized control structure.

• 한국항공우주학회지
• /
• 제32권9호
• /
• pp.57-64
• /
• 2004

본 논문은 실제의 비행시험 데이터를 이용하여 커나드 비행기 Velocity-173의 가로-방향의 조종/안정 미계수들을 추정하는 것이며, 나아가서 비행중에 (In-Flight) 실시간 파라미터 추정기법을 이용한 미계수 확인 및 분석에 관한 내용이다. 본 논문에서 적용한 비행 중 실시간 파라미터 추정기법의 결과는 AAA의 해석 결과와 비교하였으며, 그 결과는 상당히 신뢰할 수 있고 계산시간 또한 만족스러움을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1379-1382
• /
• 1997

We introduce a fast implementation of the adaptive transversal filter which uses least-mean-square(LMS) algorithm. The fast Hadamard transform(FHT) is used for the implementation of the filter. By using the proposed filter we can get the significant time reduction in computatioin over the conventional time domain LMS filter at the cost of a little performance. By computer simulation, we show the comparison of the propsed Hadamard-domain filter and the time domain filter in the view of multiplication time, mean-square error and robustness for noise.

• 한국CDE학회논문집
• /
• 제15권4호
• /
• pp.253-260
• /
• 2010

This paper presents algorithms for computing offsets of freeform curves. The approach first divides the original curve into several segments at the inflexion points. Based on the obtained new control polygon and its offsets, quadratic trigonometric splines are constructed to approximate the offset curves. Finally, the shape parameter value of trigonometric spline is determined to satisfy the required tolerance. The degree of the output curve is two, independent of the original curve's degree. Because of the great controllability, the proposed method can generate a completely overestimating offset curve by adjusting the value of the shape parameter, which guarantees no overcutting in NC machining. Furthermore, it also produces the lowest number of control points compared with other works.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.203-206
• /
• 1996

The purpose of this paper is to find how to determine the parameters of the basic control system design such as hinge moment coefficients and to display the controllability of the ChangCong-91. Since the estimation from the flight test of real aircraft is the most reliable, we performed the flight test of ChangGong-91 to get the various parameters such as velocity, height, control force, control surface deflection, 3 axis acceleration, 3 axis angular rate, pitch angle, angle of attack temperature and so on. We recorded the flight test data in VHS tapes and stored them to personal computer using A/D(analog to digital) converter. Flight test was done in various conditions, and the acquired data was processed with parameter identification method such as least square method. These data will be utilized for the development of Autopilot System design and Control Loading System design.