• Title/Summary/Keyword: modal control

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A controller design using modal decomposition of matrix pencil

  • Shibasato, Koki;Shiotsuki, Tetsuo;Kawaji, Shigeyasu
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.492-492
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    • 2000
  • This paper proposes LQ optimal controller design method based on the modal decomposition. Here, the design problem of linear time-invariant systems is considered by using pencil model. The mathematical model based on matrix pencil is one of the most general representation of the system. By adding some conditions the model can be reduced to traditional system models. In pencil model, the state feedback is considered as an algebraic constraint between the state variable and the control input variable. The algebraic constraint on pencil model is called purely static mode, and is included in infinite mode. Therefore, the information of the constant gain controller is included in the purely static mode of the augmented system which consists of the plant and the control conditions. We pay attention to the coordinate transformation matrix, and LQ optimal controller is derived from the algebraic constraint of the internal variable. The proposed method is applied to the numerical examples, and the results are verified.

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Active Vibration Control of Smart Hull Structure Using MFC Actuators (MFC 작동기를 이용한 스마트 Hull 구조물의 능동 진동 제어)

  • Sohn, Jung-Woo;Kim, Heung-Soo;Choi, Seung-Bok
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.15 no.12 s.105
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    • pp.1408-1415
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    • 2005
  • Active vibration control of smart hull structure using Macro Fiber Composite (MFC) actuator is performed. Finite element modeling is used to obtain governing equations of motion and boundary effects of end-capped smart hull structure. Equivalent interdigitated electrode model is developed to obtain piezoelectric couplings of MFC actuator. Modal analysis is conducted to investigate the dynamic characteristics of the hull structure, and compared to the results of experimental investigation. MFC actuators are attached where the maximum control performance can be obtained. Active controller based on Linear Quadratic Gaussian (LQG) theory is designed to suppress vibration of smart hull structure. It is observed that closed loop damping can be improved with suitable weighting factors in the developed LQG controller and structural vibration is controlled effectively.

Dynamic Modeling and Vibration Control of Smart Hull Structure (스마트 Hull 구조물의 동적 모델링 및 능동 진동 제어)

  • Sohn, Jung-Woo;Kim, Heung-Soo;Choi, Seung-Bok
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2006.05a
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    • pp.650-655
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    • 2006
  • Dynamic modeling and active vibration control of smart hull structure using Macro Fiber Composite (MFC) actuator is conducted. Finite element modeling is used to obtain equations of motion and boundary effects of smart hull structure. Modal analysis is carried out to investigate the dynamic characteristics of the smart hull structure, and compared to the results of experimental investigation. Negative velocity feedback control algorithm is employed to investigate active damping of hull structure. It is observed that non-resonant vibration of hull structure is suppressed effectively by the MFC actuators.

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Design and Numerical Analysis of Flexible Wing for Gust Response Alleviation (유연 날개 설계 및 돌풍응답완화 수치해석)

  • Lee, Sang-Wook;Kim, Tae-Uk;Kim, Sung-Chan;Hwang, In-Hee;Ha, Chul-Keun
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2006.05a
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    • pp.203-206
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    • 2006
  • In this study, the method of designing the flexible wing model which will be used for wind tunnel testing of gust response alleviation system was presented. The design concept proposed herein was validated by performing the modal testing of the flexible wing model manufactured for demonstration purpose. In addition, the study on the gust response alleviation using flexible wing control surface was performed. For this purpose, optimal control with output feedback was adopted for designing the control surface controller, and the effects of gust response alleviation was validated by performing the numerical simulation for the representative flexible wing model. The methods proposed and validated in this study can be applied for wind tunnel testing of the flexible wing for gust response alleviation.

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Use of Normal Forms Technique In Control Design Part I: General Theory

  • Jang, Gil-Soo;Vittal, Vijay;Kwon, Sae-Hyuk
    • Proceedings of the KIEE Conference
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    • 1998.07c
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    • pp.864-867
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    • 1998
  • This is Part I of a two part paper dealing with control design in power systems using the method of normal forms. In stressed power systems, due to the presence of increased nonlinearity and the existence of nonlinear modal interactions. there exist some limitation to the use of conventional linear control design techniques. The objective of this work is to understand the effect of the nonlinear modal interaction on control performance and to develop a procedure to design controls incorporating the nonlinear information. Part II presents the numerical results dealing with the design procedure.

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Design of Tuned Mass Damper and Hybrid Tuned Mass Damper for a 76-story Benchmark Building to Alleviate Wind Response (76층 벤치마크 건물의 풍응답 제어를 위한 TMD 및 HTMD 설계)

  • Min, Kyung-Won;Park, Ji-Hoon;Kim, Hong-Jin;Kim, Hyung-Sub;Jung, Ran
    • Proceedings of the Computational Structural Engineering Institute Conference
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    • 2003.10a
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    • pp.541-548
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    • 2003
  • The design and performance of HTMD(hybrid tuned mass dampers) are evaluated for the response control of a md excited 76-story benchmark building. When a HTMD utilizes active control forces, the optimally designed TMD (Tuned Mass Damper) generates the modal separation at the first natural frequency resulting in difficulties for applying active control forces additionally. Whereas, the modal separation does no occur if the un is designed with the non-optimally designed TMD is used. Therefore, the response control performance of the HTMD with a non-optimally designed TMD is better that one with an optimally designed TMD. Further, the non-optimally designed TMD has an advantage of smaller stroke than the optimally designed TMD relieving the difficulty of limited strokes.

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A PROPOSAL OF ENHANSED NEURAL NETWORK CONTROLLERS FOR MULTIPLE CONTROL SYSTEMS

  • Nakagawa, Tomoyuki;Inaba, Masaaki;Sugawara, Ken;Yoshihara, Ikuo;Abe, Kenichi
    • 제어로봇시스템학회:학술대회논문집
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    • 1998.10a
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    • pp.201-204
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    • 1998
  • This paper presents a new construction method of candidate controllers using Multi-modal Neural Network(MNN). To improve a control performance of multiple controller, we construct, candidate controllers which consist of MNN. MNN can learn more complicated function than multilayer neural network. MNN consists of preprocessing module and neural network module. The preprocessing module transforms input signals into spectra which are used as input of the following neural network module. We apply the proposed method to multiple control system which controls the cart-pole balancing system and show the effectiveness of the proposed method.

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Dynamic Modeling and Vibration Control of Smart Hull Structure (스마트 Hull 구조물의 동적 모델링 및 능동 진동 제어)

  • Sohn, Jung-Woo;Kim, Heung-Soo;Choi, Seung-Bok
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.16 no.8 s.113
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    • pp.840-847
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    • 2006
  • Dynamic modelingand active vibration control of smart hull structure using Macro Fiber Composite (MFC) actuators are conducted. Finite element modeling is used to obtain equations of motion and boundary effects of smart hull structure. Modal analysis is carried out to investigate the dynamic characteristics of the smart hull structure, and compared to the results of experimental investigation. Negative velocity feedback control algorithm is employed to investigate active damping of hull structure. It is observed that non-resonant vibration of hull structure is suppressed effectively by the MFC actuators.

Active Vibration Control of Smart Hull Structure Using MFC Actuators (MFC 작동기를 이용한 스마트 Hull 구조물의 능동 진동 제어)

  • Sohn, Jung-Woo;Kim, Heung-Soo;Choi, Seung-Bok
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2005.11a
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    • pp.217-222
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    • 2005
  • Active vibration control of smart hull structure using Macro Fiber Composite (MFC) actuator is performed. Finite element modeling is used to obtain governing equations of motion and boundary effects of end-capped smart hull structure. Equivalent interdigitated electrode model is developed to obtain piezoelectric couplings of MFC actuator. Modal analysis is conducted to investigate the dynamic characteristics of the hull structure, and compared to the results of experimental investigation. MFC actuators are attached where the maximum control performance can be obtained. Active controller based on Linear Quadratic Gaussian (LQG) theory is designed to suppress vibration of smart hull structure. It is observed that closed loop damping can be improved with suitable weighting factors in the developed LQG controller and structural vibration is controlled effectively.

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Optimal Static Output Feedback Control of Tendon Driven Master-Slave Manipulator (텐던 구동 마스터-슬레이브 조작기 최적 정적 출력 되먹임 제어)

  • Kang, Min-Sig;Lee, Jong-Kwang;Yoon, Ji-Sup;Park, Byung-Suk;Kim, Ki-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.10
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    • pp.1039-1046
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    • 2009
  • In this work, a bilateral control for a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. The measurable variables are the positions and rates of master/slave motors. In the consideration of the flexibility of the tendon and available measurements for control, we proposed an optimal static output feedback control for possible bilateral control architecture. By using modal analysis, the system model is reduced to guarantee the detectability which is a necessity for the static output feedback control design. Based on the reduced model, the control gains are determined to attenuate vibration in the sense of optimality. The feasibility of the proposed control design was verified along with some simulation results.