• 제어로봇시스템학회논문지
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• 제11권11호
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• pp.930-935
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• 2005

In this paper, position tracking control of an autonomous helicopter is presented. Combining an LQR method and a proportional control forms a simple PD control. Since LQR control gains are set for the velocity control of the helicopter, a position tracking error occurs. To minimize a position tracking error, neural network is introduced. Specially, in the frame of the reference compensation technique for teaming neural network compensator, a position tracking error of an autonomous helicopter can be compensated by neural network installed in the remotely located ground station. Considering time delay between an auto-helicopter and the ground station, simulation studies have been conducted. Simulation results show that the LQR with neural network performs better than that of LQR itself.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.248-254
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• 1996

A disturbance rejection controller using eccentricity filtering and LQ control techniques is proposed to alleviate significantly the effect of roll eccentricity in multivariable cold-rolling processes. Fundamental problems such as process time delay inherent in exit thickness measurement and non-stationary characteristics of roll eccentricity signals can be overcome by the proposed control method. The filtered instantaneous estimate of roll eccentricity may be exploited to improve instantaneous estimate of the exit thickness variation based on roll force and roll gap mearsurements, and a feedforward compensator is augmented as a reference for a gaugemeter thickness estimator. And, LQ feedback controller is combined with eccentricity filter for the attenuation of the exit thickness variation due to the entry thickness variation. The simulation results show that eccentricity components have been significantly eliminated and simultaneously other distrubances also have been attenuated.

• 한국정밀공학회지
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• 제26권12호
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• pp.69-77
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• 2009

In this study an ANFIS-based trajectory tracking motion control algorithm is proposed for autonomous garage and parallel parking of a model car. The ANFIS controller is trained off-line using data set which obtained by Mandani fuzzy inference system and thereby the processing time decreases almost in half. The controller with a steering delay compensator is tuned through simulations performed under MATLAB/Simulink environment. Experiments are carried out with the model car for garage and parallel parking. The experimental results show that the trajectory tracking performance is satisfactory under various initial and road conditions

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1005-1008
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• 1996

일부궤한 제어시스템이 안정화되는 비례보상기의 이득의 구간을 연구한다. 이 논문에서 제어시스템이 연결된 구간에 대하여 안정화되는 조건을 구한다. 연결된 구간은 그 구간에 있는 어떤 임의의 두 실수를 취할 때 두 실수 사이의 모든 실수가 그 구간에 속하는 경우를 말한다. 조건은 페루프 전달함수의 분자나 분모의 주파수를 매개변수로한 부등식으로 표현된다. 또한 이산 시간 제어시스템과 시간지연 연속시스템에 관한 조건도 구한다.

• 전력전자학회논문지
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• 제5권6호
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• pp.584-591
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• 2000

컴퓨터와 같은 민감한 부하를 전압강하나 정전과 같은 전원 장애로부터 보호하기 위하여 전력보상장치가 설­치되어 왔다. 전력보상장치의 경우 계통과의 연계를 위해 대부분 정지형 스위치를 이용하고 있으며, 이러한 정지형 스위치의 전환동작은 매우 중요한 부분을 차지하고 있다. 그간 전략보상장치의 구조나 제어에 관한 연구는 활발하게 진행되어 왔으나 전력보상장치의 운전을 시작하기 위한 전원 장애의 감지에 판한 연구는 매우 드문게 현실이다. 따라서 본 논문에서는 정지형 스위치 절환동작을 위해 CBEMNITIC 커브를 이용하여 컴퓨터 응용부하판 위한 새보운 전원 장애 검출 암고리즘을 제안한다. 제안된 검출 알고리즘은 동기 좌표계에서 직류 값으으 변환된 삼상 순시 전압값을 동작 기준값과 비교하는 방법을 사용하여 빠른 검출 시간을 가지도록 하였다. 그리고, 간단한 1차 디지텔 필터를 삽입하여 잡음에 강인하도록 선거하였다. 이러한 필터에 의해 나타나는 위상지연 및 이득감소를 각각 전달함수를 이용한 수식적인 해석과 오차의 정규화를 통해 보상하였다. 마지막으로 ACSL를 이용한 시뮬레이션파 실험을 통해 제안된 알고리즘의 타당성을 입증하였다.

• 전자공학회논문지SC
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• 제38권3호
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• pp.1-12
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• 2001

본 논문은 파라미터 불확실성을 갖는 비최소위상 시스템의 강인제어 문제를 고려한다. 먼저 불확실성을 갖는 비최소위상 시스템을 구간 최소위상 전달함수군과 Pade'근사화 형태로 시간지연 성분으로 변환하는 새로운 방법을 제시한다. 제안하게 될 제어기는 비최소위상 플랜트로 인한 시간지연 거동을 보상할 수 있도록 Smith 예측기 구조를 갖는 보상기로 구성된다. 최소위상 플랜트군의 피드백 제어기는 구조적 불확실성에 대해 주파수 영역의 설계사양의 강인 안정도를 만족하도록 QFT를 이용하여 설계되었다. 전체 시스템의 안정도와 성능은 예제를 통하여 입증한다.

• 전력전자학회논문지
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• 제25권2호
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• pp.73-78
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• 2020

In this study, a novel reactive power control scheme is proposed to supply stable reactive power to the distribution line by compensating a ripple voltage of DC link. In a single-phase system, a magnitude of second harmonic is inevitably generated in the DC link voltage, and this phenomenon is further increased when the capacity of DC link capacitor decreases. Reactive power control was performed by controlling the d-axis current in the virtual synchronous reference frame, and the voltage control for maintaining the DC link voltage was implemented through the q-axis current control. The proposed method for compensating the ripple voltage was classified into three parts, which consist of the extraction unit of DC link voltage, high pass filter (HPF), and time delay unit. HPF removes an offset component of DC link voltage extracted from integral, and a time delay unit compensates the phase leading effect due to the HPF. The compensated DC voltage is used as feedback component of voltage control loop to supply stable reactive power. The performance of the proposed algorithm was verified through simulation and experiments. At DC link capacitance of 375 uF, the magnitude of ripple voltage decreased to 8 Vpp from 74 Vpp in the voltage control loop, and the total harmonic distortion of the current was improved.

• 대한기계학회논문집A
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• 제21권3호
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• pp.502-510
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• 1997

A disturbance rejection controller using eccentricity filtering and LQ control techniques is proposed to alleviate the effecto of major roll eccentricity in multivariable cold-rolling processes. Fundamental problems in multivariable cold-rolling processes such as process time delay inherent in exit thickness measurement and non-stationary characteristics of roll eccentricity signals can be overcome by the proposed control method. The filtered instantaneous estimate of roll eccentricity may be exploited to improve instantaneous estimate of the exit thickness variation based on roll force and roll gap measurements, and a feedforward compensator is augmented as a reference for a gaugemeter thickness estimator. LQ feedback controller is combined with eccentricity filter for the attenuation of the exit thickness variation due to the entry thickness variation. The simulation results show that the roll eccentricity disturbance is significantly eliminated and other disturbances also are attenuated.

• International Journal of Control, Automation, and Systems
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• 제1권4호
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• pp.474-483
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• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.

• 한국자동차공학회논문집
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• 제22권2호
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• pp.182-189
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• 2014

This paper proposes a decoupler design method to reduce interaction between exhaust gas recirculation (EGR) and variable geometry turbocharger (VGT) systems in passenger car diesel engines. The EGR valve and VGT vane are respectively used to control air-to-fuel ratio (AFR) of exhaust gas and intake pressure. A plant model for EGR and VGT systems is defined by a first order transfer function plus time-delay model, and the loop interaction between these systems is analyzed using a relative normalized gain array (RNGA) method. In order to deal with the loop interaction, a design method for simplified decoupler is applied to this study. Feedback control algorithms for AFR and intake pressure are composed of a compensator using PID control method and a prefilter. The proposed decoupler is evaluated through engine experiment, and the results successfully showed that the loop interaction between EGR and VGT systems can be reduced by using the proposed decoupler. Furthermore, it presents stable performance even off from the designed operating point.