• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.582-587
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• 1987

In this paper, a controller design method for the DC motor driving system is described emphasizing the specified degree of accuracy undergoing large time varying disturbances, coulomb friction and arm-load resonance. A feedforward compensation technique using the current controller is proposed, and resulting in the performance improvement as well as the implementational simplicity. A time-weighted quadratic performance index is used in the optimization of the controller, which is a salient way of obtaining better closed-loop performance in a simple manner. Computer simulations are also given to show the usefulness of the proposed techniques.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.407-409
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• 1998

In order to improve the tracking performance of $2{\times}2$ multivariable control systems, a fuzzy control algorithm with feedforward compensator is represented. The method consists in two steps. First, neglecting interconnections. one designs a fuzzy controller to each individual loop. In the second stage, low-order transfer functions of outputs to reference inputs are estimated. We propose a design method of the feed forward compensator based on the transfer functions. An illustrative example are shown.

• Journal of Advanced Marine Engineering and Technology
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• 제18권4호
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• pp.102-111
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• 1994

This article deals with the problem of designing a robust algorithm for the motion control of robot manipulator whose nonlinear dynamics contain various uncertainties. To ensure high performance of control system, a model-based feedforward compensation with continuous robust control has been developed. The control structure based on the deterministic approach consists of two parts : the nominal control law is first introduced to stabilize the system without uncertainties, then a robust nonlinear control law is adopted to compensate for both the resulting errors(or structured uncertainties) and unstructured uncertainties. The uncertainties assumed in this study are bounded by polynomials in the Euclidean norms of system states with known bounding coefficients. The presented control scheme is relatively simple as well as computationally efficient. With a feasible class of desired trajectories, the proposed control law provides sufficient criteria which guarantee that all possible responses of the closed-loop system are uniformly ultimately bounded in the presence of uncertainties. Therefore, the control algorithm proposed is shown to be robust with respect to the involved uncertainties.

• Journal of Power Electronics
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• 제17권3호
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• pp.716-724
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• 2017

The output voltage of an off-grid inverter is influenced by load current, and the voltage harmonics especially the 5th and 7th are increased with nonlinear loads. In this paper, to attenuate the output voltage harmonics of off-grid inverters with nonlinear loads nearby, a load current feedforward is proposed. It is introduced to a voltage control loop based on the Positive and Negative Sequence Harmonic Regulator (PNSHR) compensation to modify the output impedance at selective frequencies. The parameters of the PNSHR are revised with the output impedance of the off-grid inverter, which minimizes the output impedance of the off-grid inverter. Experimental results verify the proposed method, showing that the output voltage harmonics caused by nonlinear loads can be effectively suppressed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.236-241
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• 1988

This note considers the class of controllers with integral action which arise directly from appropriate system models. Via internal model principle approach, a corresponding class of self-tuning controller is shown to have both integral action in controller and offset removal in the tuning algorithm. The key idea is to constrain the estimator in each step in order to ensure that dc gain of feedforward and feedback polynomial of adaptive controller are always equal, thus allowing the loop integrator to work properly.

• 대한기계학회논문집A
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• 제24권9호
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• pp.2361-2370
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• 2000

The introduction of inexpensive cylinder pressure sensors provides new opportunities for precise engine control. This paper presents a control strategy of spark advance based upon cylinder pressure of spark ignition engines. A location of peak pressure(LPP) is the major parameter for controlling the spark timing, and also the UP is estimated, using a multi-layer feedforward neural network, which needs only five pressure sensor output voltage samples at -40˚, -20˚, 0˚, 20˚, 40˚ after top dead center. The neural network plays an important role in mitigating the A/D conversion load of an electronic engine controller by increasing the sampling interval from 10 crank angle(CA) to 20˚ CA. A proposed control algorithm does not need a sensor calibration and pegging(bias calculation) procedure because the neural network estimates the UP from the raw sensor output voltage. The estimated LPP can be regarded as a good index for combustion phasing, and can also be used as an MBT control parameter. The feasibility of this methodology is closely examined through steady and transient engine operations to control individual cylinder spark advance. The experimental results have revealed a favorable agreement of individual cylinder optimal combustion phasing.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2004년도 춘계학술대회 논문집
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• pp.347-352
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• 2004

The author present a modified multi-loop algorithm including feedforward for controlling a 55kW step down chopper in the power supply of Maglev. The control law for the duty cycle consists of three terms. The first is the feedforward term which compensates for variations in the input voltage. The second term consists of the difference between the slowly moving inductor current and output current. The third term consists of proportional and integral terms involving the perturbation in the output voltage. This perturvation is derived by subtracting the desired output voltage from the actual output voltage. The proportional and integral action stabilizes the system and minimizes output voltage error. In order to verify the validity of the proposed multi-loop controller, simulation study was tried using Matlab simulink.

• 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.

• 전력전자학회논문지
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• 제3권3호
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• pp.231-239
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• 1998

본 논문에서는 대용량에 적합한 영전압 스위칭 전브리지 PWM 직류/직류 변한기의 동특성 해석과 제어 루프의 설계에 대해 논하였다. 전압을 제어하기 위한 위상전이제어의 효과와 영전압 스위칭을 위한 변압기의 누설인덕턴스, FET의 적합 커패시턴스의 이용효과를 고려한 소신호 모델을 유도하였다. 이 소신호 모델은 PWM 벅 변환기의 등가모델에 시비율 변조에 대한 두 개의 종속 전원을 추가함으로써 모델링할 수 있다. 소신호 해석 결과를 근거로 하여 2-극점, 1-영점 보상회로를 사용한 전압제어기를 설계하였다. 설계된 제어기의 타당성을 검증하기 위해서 개루프 시스템과 폐루프 시스템의 소신호 해석결과를 비교하였으며, 2kW급 부하실험으로 설계한 전압제어기의 동특성이 우수함을 실험적으로 입증하였다.

• Journal of Power Electronics
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• 제9권5호
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• pp.726-735
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• 2009

This paper presents a Bidirectional High-Frequency Link (BHFL) inverter that utilizes the Deadbeat controller. The main features of this topology are the reduced size of the inverter and fewer power switches. On the secondary side of the transformer, the active rectifier employs only two power switches, thus reducing switching losses. Using this configuration, the inverter is capable of carrying a bidirectional power flow. The inverter is controlled by a Deadbeat controller, which consists of the inner current loop, outer voltage loop and a feedforward controller. Additional disturbance decoupling networks are employed to improve the system's robustness towards load variations. A 1-kVA prototype inverter has been constructed and the Deadbeat control algorithm is experimentally verified. The experimental results show that the inverter has high efficiency (91%) with low steady state output voltage total harmonics distortion (1.5%).