• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.64 no.2
• /
• pp.289-296
• /
• 2015

In this paper, we propose the nonlinear control based on singular perturbation theory for position tracking and yaw regulation of planar motor. Singular perturbation theory is characterized by the existence of slow and fast transients in the system dynamics. The proposed method consists of auxiliary control to decouple error dynamics. We develop model reduction with control input. Also, we derIve decoupled error dynamics with auxiliary input. The controller is designed in order to guarantee the desired position and yaw regulation without current feedback or estimation. Simulation results validate the effect of proposed method.

• 전기의세계
• /
• v.23 no.2
• /
• pp.46-54
• /
• 1974

The purposes of this paper are to deal with the design of m-input, m-output linear systems by the state variable feedback, and to extend the design capability of the state variable feedback design. The design requirements are decoupling and the exact realigation of desired transfer functions. Some methods are proposed to insert series compensators in the fixed plant in the cases when series compensators are needed to meet the input-output transfer matrix specification. The method for adding series compensators to the input channels of the fixed plant is shown by examples to lead both to the loss of the ability to decouple the augmented plant by the state variable feedback, and to the loss of desired zeroes. A method which avoids these two hazards is developed in which series compensators are put on the output channels of the fixed plant: it is proved that the augmented plant is F-invariant. By treating each subsystem individually, the designer can apply some of the previous developed knowledge of the state variable design of single-input, single-output systems.

• Proceedings of the KIEE Conference
• /
• 1995.07b
• /
• pp.886-888
• /
• 1995

Models of industrial robot manipulators are characterized by highly nonlinear equation with coupling between the variables of motion. In this paper, a case study that illustrates the use or nonlinear state feedback to decouple the control of a two axis SCARA type robot manipulator is presented. This method is based on a suitable partition about the dynamic equation of industrial robots. The performance of this method is showed by the computer simulation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2001.11b
• /
• pp.745-749
• /
• 2001

The rigid body properties of a structure may be estimated easily if the mass-line of the structure could be taken exactly. However, the exact mass-line cannot be obtained experimentally. In the past years, the modal analysis for which the structure is mounted on the flexible supporter is frequently used to acquire the mass-line. Unfortunately, it is difficult not only to mount the structure but also to decouple the coupled 6 dof mode. If the structure is pended by very long and flexible rope to act free, the rigid-body modes influenced by the rope will be eliminated and the improved mass-line will be obtained. In this paper, the method using the mass-line of F.R.F. for rigid body in free-condition is suggested. The robustness of the suggested method was tested and verified numerically. The experimental results also showed a good agreement with the true value.

• Journal of Power Electronics
• /
• v.15 no.1
• /
• pp.216-226
• /
• 2015

Grid synchronization is one of the key techniques for the grid-connected power converters used in distributed power generation systems. In order to achieve fast and accurate grid synchronization, a new phase locked loop (PLL) is proposed on the basis of the complex filter matrixes (CFM) orthogonal signal generator (OSG) crossing-decoupling method. By combining first-order complex filters with relation matrixes of positive and negative sequence voltage components, the OSG is designed to extract specific frequency orthogonal signals. Then, the OSG mathematical model is built in the frequency-domain and time-domain to analyze the spectral characteristics. Moreover, a crossing-decoupling method is suggested to decouple the fundamental voltage. From the eigenvalue analysis point of view, the stability and dynamic performance of the new PLL method is evaluated. Meanwhile, the digital implementation method is also provided. Finally, the effectiveness of the proposed method is verified by experiments under unbalanced and distorted grid voltage conditions.

• Proceedings of the Korean Society For Composite Materials Conference
• /
• 2001.05a
• /
• pp.13-18
• /
• 2001

This paper deals with finite element analysis for free vibration and forced sine vibration of Ka- and Ku- bend antenna structures using MSC/PATRAN/NASTRAN. The structures are designed to satisfy minimum resonance frequency requirement in order to decouple the dynamic interaction of the satellite with the spacecraft bus structure. From the forced sinusoidal vibration, we have observed output acceleration versus input in X-,Y- and Z- direction, based on base excitation using large mass method. The results of finite elements analysis can be used as the reference data for the experimental test of satellite antenna, resulting in the reduction of cost and time by predicting and complementing experimental data.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.598-603
• /
• 2005

In this study, an adaptive control scheme with a pre-specified $H_{\infty}$ property is proposed for the tracking control of linear induction motor (LIM) drive system. Under the influence of uncertainties and external disturbances, by using nonlinear decoupling and parameter tuner, the robust performance control problem is formulated as a nonlinear $H_{\infty}$ problem and solved by a quadratic storage function. This new design method is able to track the step and several periodic commands with improved performance in face of parameter perturbations and external disturbances. Simulation and experimental results are provided to demonstrate the effectiveness of the proposed adaptive $H_{\infty}$ controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.167.3-167
• /
• 2001

In this paper, a single degree-of freedom gimbal-structured micro gyroscope and signal processing part including capacitive sensing circuits and filters are designed, fabricated and experimented. We use capacitive sensing method with excitation signal, i.e. sensing excitation signal, to measure the displacement of the moving plate. So, Sensing Output Signal is modulated twice by the excitation signal and driving signal, which is profitable to decouple the driving and sensing mode, to reduce the effect of the acceleration, and to curtail the noises due to parasitic capacitance and driving signal. To reduce driving noises and to improve linearity, the excitation signals and driving signals are modified. Through frequency response analyses ...

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.1210-1215
• /
• 1990

This paper deals with the fault diagnosis problem in uncertain linear systems having undermodelling, linearization errors and noise inputs. The new approach proposed in this paper uses an appropriate test variable and the difference between system parameters which are estimated by the least squares method to locate the fault. The singular value decomposion is used to decouple the correlation between the estimated system parameters and to observe the trend of parameter changes. Some simulations applied to aircraft ergines show good allocation of the fault even though the system model has significant uncertainties. The feature of the approach is to diagnose the uncertain system through simple parameter operations and not to need complex calculations in the diagnosis procedure as compared with other methods.

• Journal of the Korean Society for Precision Engineering
• /
• v.21 no.5
• /
• pp.166-173
• /
• 2004

Axiomatic Design has been developed as a general design framework during past two decades and TRIZ has been developed for a design tool over 50 years. Axiomatic design is quite excellent in that the design should be decoupled. When a design matrix is established, the characteristics of the design are identified concerning the coupling properties. If the design is coupled, a decoupling process should be found. However, axiomatic design does not specifically indicate how to decouple. In this paper, a design method is developed to use TRIZ in the decoupling process. The decoupling ideas are extracted from the substance field analysis and various methods in TRIZ. The mettled is applied applied to the conceptual design of a beam splitter for the laser marker and the results are analyzed.