• 한국정밀공학회지
• /
• 제16권6호
• /
• pp.176-182
• /
• 1999

In this paper, we consider a decoupling control and a servo control for the JINAMCHA of which the cart and the pointer is coupled very strongly. The right eigenstructure assignment(i.e. simultaneous assignment of eigenvalues and right eigenvectors) is used for decoupling the motions of the cart and the pointer. The CGT(Command Generator Tracker) is used for a servo control of the JINAMCHA. The performance of the proposed control scheme, that is the combination of the right eigenstructure assignment and the CGT, is evaluated by simulations. The results show that the proposed controller has better performance than the LQR with limiting properties and the conventional LQ servo.

• 제어로봇시스템학회논문지
• /
• 제7권3호
• /
• pp.183-192
• /
• 2001

In this paper, the decoupling H(sub)$\infty$ controller which minimizes the maximum energy in the output signal is designed to reduce the coupling properties between the input/output variables which make it difficult to control a system efficiently. The state-space formulas corresponding to the existing transfer matrix formulas of the controller are derived for computational efficiency. And for a given decoupling $H_{\infty}$ problem, an efficient method are sought to find the controller coefficients through the LMI(Linear Matrix Inequalities) method by which the problem is formulated into a convex optimization problem.

• 대한전자공학회논문지
• /
• 제23권2호
• /
• pp.189-196
• /
• 1986

Linear second-order matrix systems representing dynamics of large flexible structures are recast in a state space form. By can efficient partial decoupling technique, a few of low frequency modes are decoupled from the rest of modes, and an optimal control procedure is developed in such a way that damping is added to the selected modes without control spillover to uncontrolled modes. Since the partial decoupling requires only eigenvectors of the sected modes, the computing time can be reduced significantly in large systems. Therefore, the method of partial decoupling and control developed in this work may be applicable to vibration contorl of large flexible space structures.

• 정보저장시스템학회논문집
• /
• 제2권2호
• /
• pp.117-122
• /
• 2006

A novel method to find interaction dynamics between focusing direction and tracking direction in an optical pick-up is proposed. and the decoupling control to reduce the interaction effect is discussed. First, the basic principle to detect dynamic interaction analysis using back electromotive force is introduced. Second, the interaction analysis between focusing and tracking direction of is analyzed for a commercial slim type optical pick-up. Finally. decoupling control process and its simulation results are shown.

• 반도체디스플레이기술학회지
• /
• 제19권4호
• /
• pp.105-111
• /
• 2020

In most multiple input/output systems, one input affects two or more different outputs. Therefore, there are many inconveniences in using the actual system. In order to solve this problem, a controller that makes an input signal and an output correspond 1:1 is called a decoupling controller. In this paper, I try to implement a relatively simple decoupling controller using a cross-compensator, that is, a compensator that takes an uncorresponding output as an input value. And this cross-compensator has a gain scheduler structure in order to increase the performance. In addition, this system is designed with a distributed control structure using CAN communication, so that it can be manufactured and operated in an easier way when implementing an actual experimental system. The proposed structure is applied to the modified new Arago's disk system and tested, and through this, the effectiveness is confirmed and reported.

• 제어로봇시스템학회논문지
• /
• 제6권7호
• /
• pp.568-577
• /
• 2000

In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.

• Journal of Power Electronics
• /
• 제18권6호
• /
• pp.1708-1719
• /
• 2018

A complete current loop decoupling control strategy based on a sliding mode observer (SMO) is proposed to eliminate the influence of current dynamic coupling and back electromotive force (EMF) in the vector control of permanent magnet synchronous motors. With this strategy, current dynamic decoupling and back EMF compensation can be simultaneously achieved. Unlike conventional methods, the proposed strategy can avoid the disturbances caused by the parametric variations of motor systems and maintain the advantages of proportional integral (PI) controllers, which are robust and easy to operate. An improved SMO, which uses a special PI regulator other than a linear saturation function as the equivalent control law in the boundary layer of a sliding surface, is proposed to eliminate the estimated errors caused by the quasi-sliding mode and obtain a satisfactory decoupling performance. The stability and parameter robustness of the proposed strategy are also analyzed. Physical experimental results are presented to verify the validity of the method.

• 전자공학회논문지 IE
• /
• 제45권3호
• /
• pp.36-41
• /
• 2008

실제 프로세스 제어 중의 3개의 탱크 액체가 이 결합 시스템을 통제하는 작업 원리에 근거하여 두 개의 입력과 두 개의 출력 시스템의 수학적 모델을 제시하였다. 귀로 사이의 결합 작용을 한 종류의 형식의 요소로 간주하고 Feedforward 보상에 근거하여 정형화한 형태의 통제 분리 방법을 제시하였다. 그리고 두 개의 입출력 결합 시스템에 대해 통제 분리를 진행하고 마지막으로 프로그래밍을 통해 이 통제 분리 프로세스의 실험을 수행하였다. 또한 시뮬레이션 결과는 그 방법이 양호한 통제 분리 효과를 얻을 수 있다는 것을 나타내었다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 제38회 하계학술대회
• /
• pp.1587-1588
• /
• 2007

IPM(Interior Permanent Magnet) Machine의 전류 제어는 자기저항에 의존하는 토크특성 때문에 SPM(Surface Permanent Ma- gnet) Machine보다 복잡하다. 고성능 토크제어를 위해서는 d축 전류와 q축 전류의 동특성간의 상태 decoupling이 요구된다. 그러나 전류의 상태 동특성이 coupling된 인덕턴스의 변화(온도, 파라미터들의 부정확한 측정값)는 상태 decoupling을 어렵게 한다. 그래서 이러한 변화와 각각의 전류가 독립적으로 제어될 수 있게 여러 decoupling 방법들에 초점이 맞춰지고있다. 본 연구는 외란에 강하고, 특히 인덕턴스의 변화와 상관없는 이상적인 토크제어를 하기 위해 신경회로망을 이용하여 슬라이딩 평면(sliding surface)을 구성하고, SMC(Sliding Mode Control)를 이용하여 상태 cross-coupling의 decoupling을 위한 새로운 접근을 제안한다. 이 방법은 PI제어 성능과 SMC의 강인성을 알고리즘을 이용하여 결합한 것이라고 볼 수도 있다.

• Journal of Electrical Engineering and Technology
• /
• 제13권6호
• /
• pp.2354-2363
• /
• 2018

This paper proposed a novel double closed control strategy for single-phase voltage source pulse width modulation (PWM) rectifier based on active disturbance rejection control (ADRC) and dq current decoupling control. First, the mathematical model of the single-phase PWM rectifier in the d-q axis synchronous rotating reference frame is established by constructing a virtual component using a second-order generalized integrator (SOGI). Then, the mathematical model is simplified according to the active power conservation, and the first-order equation of single-phase PWM rectifier voltage outer loop is acquired. A linear auto-disturbance rejection controller is used to design the voltage outer loop according to the first-order equation. Finally, the proposed control strategy and the traditional PI control are compared and verified by simulation and physical experiments. Both simulation and experimental results confirm that the proposed control strategy has excellent dynamic performance and strong rejection ability to disturbances.