• 제어로봇시스템학회논문지
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• 제10권7호
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• pp.590-596
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• 2004

A passivity-based dynamic output feedback controller design is considered for a finite collection of non-square linear systems. Design of a single controller for a set of plants i.e. simultaneous stabilization is an important issue in the area of robust control design. We first determine a squaring gain matrix and an additional dynamics that is connected to the systems in a feedforward way, then a static passivating control law is designed. Consequently, the actual feedback controller will be the static control law combined with the feedforward dynamics. A necessary and sufficient condition for the existence of the parallel feedforward compensator is given by the static output feedback formulation. In contrast to the previous result [1], a technical condition for constructing the parallel feedforward compensator is removed by proposing a new type of the parallel compensator.

• Journal of Power Electronics
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• 제11권6호
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• pp.897-903
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• 2011

Many voltage sag compensators have been introduced, including the traditional dynamic voltage restorer (DVR), which requires an energy storage device but is inadequate for compensating deep and long-duration voltage sags. The AC-AC sag compensators introduced next do not require a storage device and they are capable of compensating voltage sags. This type of compensator needs an AC-AC converter to regulate the output voltage. Presented in this paper is a three-phase PWM-switched autotransformer voltage sag compensator based on an AC-AC converter that uses a proposed detection technique and PWM voltage control as a controller. Its effectiveness and capability in instantly detecting and compensating voltage sags were verified via MATLAB/Simulink simulations and further investigated through a laboratory prototype developed with a TMS320F2812 DSP as the main controller.

• International Journal of Air-Conditioning and Refrigeration
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• 제15권2호
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• pp.61-69
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• 2007

This paper deals with fuzzy control with a feedforward compensator to progress both energy saving and coefficient of performance (COP) in a variable speed refrigeration system. Both the capacity and superheat are controlled simultaneously and independently in the system. By adopting the fuzzy theory, the controller design for the capacity and superheat is possible without depending on a dynamic model of the system. Moreover, the feedforward compensator of the superheat can reduce influence of the interfering loop between the capacity and superheat. Some experiments are conducted to design appropriate fuzzy controller by an iteration manner. The results show that the proposed fuzzy controller with the compensator can establish good control performances for the complicated refrigeration system in spite of its inherent strong non-linearity. Also, the fuzzy control performances were investigated by comparing to the model based PI control experimental results to evaluate transient behavior under the control.

• Smart Structures and Systems
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• 제20권4호
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• pp.483-498
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• 2017

Real-Time Hybrid Simulation (RTHS) is a powerful and cost-effective dynamic experimental technique. To implement a stable and accurate RTHS, time delay present in the experiment loop needs to be compensated. This delay is mostly introduced by servo-hydraulic actuator dynamics and can be reduced by applying appropriate compensators. Existing compensators have demonstrated effective performance in achieving good tracking performance. Most of them have been focused on their application in cases where the structure under investigation is subjected to inputs with relatively low frequency bandwidth such as earthquake excitations. To advance RTHS as an attractive technique for other engineering applications with broader excitation frequency, a discrete-time feedforward compensator is developed herein via various optimization techniques to enhance the performance of RTHS. The proposed compensator is unique as a discrete-time, model-based feedforward compensator. The feedforward control is chosen because it can substantially improve the reference tracking performance and speed when the plant dynamics is well-understood and modeled. The discrete-time formulation enables the use of inherently stable digital filters for compensator development, and avoids the error induced by continuous-time to discrete-time conversion during the compensator implementation in digital computer. This paper discusses the technical challenges in designing a discrete-time compensator, and proposes several optimal solutions to resolve these challenges. The effectiveness of compensators obtained via these optimal solutions is demonstrated through both numerical and experimental studies. Then, the proposed compensators have been successfully applied to RTHS tests. By comparing these results to results obtained using several existing feedforward compensators, the proposed compensator demonstrates superior performance in both time delay and Root-Mean-Square (RMS) error.

• 드라이브 ㆍ 컨트롤
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• 제17권1호
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• pp.44-50
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• 2020

For the requirement of accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Because of the complexity of humanoid robot dynamics, the TDC (time-delay control) is practical because it does not require a dynamic model. However, there occurs a considerable error due to discontinuous non-linearities. To solve this problem, the TDC-FLC (fuzzy logic compensator) is applied to humanoid robots. The applied controller contains three factors: a TDE (time-delay estimation) factor, a desired error dynamic factor, and FLC to suppress the TDE error. The TDC-FLC is easy to execute because it does not require complicated humanoid dynamic calculations and the heuristic fuzzy control rules are intuitive. TDC-FLC is implemented on the whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the TDC-FLC for humanoid robots.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2006년도 전력전자학술대회 논문집
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• pp.428-431
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• 2006

Matching transformer in Dynamic Voltage Compensator is needed for grid connection and isolation. Flux saturation in transformer will be occurred by voltage of transformer from inverter and DC offset voltage and flux saturation makes over current in transformer. In this paper, mathematical modeling of matching transformer is proposed for flux saturation simulation of Dynamic Voltage Compensator.

• 한국의학물리학회지:의학물리
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• 제16권2호
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• pp.82-88
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• 2005

상용화된 방사선 치료계획 장치에서 제공하는 선량보상체(compensator) 설계 기능의 타당성 을 검증하고자 Cerrobend 재료를 대상으로 한 고밀도의 선량보상체 설계 및 제작과 동적다엽콜리메이터를 활용한 전자 선량보상체(Electronic Compensator)의 구현을 통해 그 기능을 분석하였다. 5개의 두께가 다른 영역으로 구성한 팬텀을 대상으로 전산화단층촬영(CT) 영상을 획득하고, 기준 깊이에서 균일한 선량분포를 형성하도록 방사선치료계획장치(RTP)에서 선량보상체를 설계하였다. Cerrobend 선량보상체 주조 틀을 제작하기 위해 컴퓨터로 자동 제어되는 스티로폼 절삭기를 사용하였고, 전자선량보상체를 구현하기 위해 다엽콜리메이터를 사용하였으며, 선량분포의 측정을 위해서 선량측정용 필름을 사용하였다. 선량보상체를 적용하지 않았을 경우, 선량분포에서 $\pm13.93 cGy$의 편차를 보였으나, Cerrobend 선량보상체와 전자선량보상체를 적용하였을 경우, 각각 $\pm0.99 cGy$와 $\pm1.82cGy$의 편차를 보여 선량분포의 균일도를 높이는 선량보상체로서 기능을 구현함을 증명하였다. 방사선치료계획장치에서 계획된 기준 선량값과의 평균 오차를 분석한 결과, Cerrobend 선량보상체는 $+3.83\%$, 전자 선량보상체는 $-4.37\%$의 오차를 보였으며, 이는 Cerrobend 선량보상체 제조과정에서의 오차와 절대 선량측정 도구로서 필름이 갖고 있는 한계성을 고려할 때, 선량보상체 기능의 정확도 입증에 타당성 있는 결과로 생각한다.

• 전기학회논문지
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• 제56권5호
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• pp.944-957
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• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstopping control method.

• Journal of Power Electronics
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• 제17권3호
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• pp.798-810
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• 2017

This paper presents a combined system of a small-capacity inverter and multigroup delta-connected thyristor switched capacitors (TSCs). The system is referred to as a hybrid static compensator (HSC) and has the functions of dynamic reactive power compensation and harmonic suppression. In the proposed topology, the load reactive power is mainly compensated by the TSCs. Meanwhile the inverter is meant to cooperate with TSCs to achieve continuous reactive power compensation, and to filter the harmonics generated by nonlinear loads and the TSCs. First, the structure and mathematical model of the HSC are discussed Then the control method of the HSC is presented. An improved reduced order generalized integrator (ROGI)-based selective current control method is adopted in the inverter to achieve high-performance reactive and harmonic current compensation. Meanwhile, a switch control strategy is proposed to implement precise and fast switching of the TSCs and to avoid changing the time delay needed by the conventional switch strategy. Experiments are implemented on a 20 KVA HSC prototype and the obtained results verify the validity of the proposed HSC system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.73-76
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• 1996

This paper presents a dynamical anti-reset windup (ARW) compensation method for saturating control systems with multiple controllers and/or multiloop configuration. By regarding the difference of the controller states in the absence and presence of saturating actuators as an objective function, the dynamical compensator which minimize the objective function are derived in an integrated fashion. The proposed dynamical compensator is a closed form of the plant and controller parameters. The proposed method guarantees total stability of resulting system. An illustrative example is given to show the effectiveness of the proposed method.