• Journal of Power System Engineering
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• v.12 no.1
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• pp.72-79
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• 2008

This paper designs a looper-tension controller for mass-flow stabilization in hot strip finishing mills. By Newton's 2nd law and Hooke's law, nonlinear dynamic equations on the looper-tension system are firstly derived, and linearized by a linearization algorithm using a Taylor's series expansion. Moreover, a tension calculation model is obtained from the nonlinear dynamic equations which is called as a soft sensor of strip tension between two neighboring stands. Next, a looper-tension servo controller is designed by an ILQ(Inverse Linear Quadratic optimal control) algorithm, and it is combined with a minimal disturbance observer which to attenuate speed disturbances by AGC and operator interventions, etc.. Finally, it is shown from by a computer simulation that the proposed ILQ controller with a disturbance observer is very effective in stabilizing the strip mass-flow under some disturbances, moreover it has a good command following performance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.8
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• pp.1680-1689
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• 2002

This paper studies on the design of a looper control system for hot strip mill finisher using ILQ(Inverse Linear Quadratic optimal control) control method. The loopers are placed between each rolling stands and looper control plays an important role in regulating strip tension. The strip tension is controlled by raising and lowering the looper and by changing the speed of main work rolls. Firstly, it is shown from a nonlinear dynamic simulation that the strip tension is more influenced by difference of rolling speed than that of the looper angle. Secondly, a servo controller of the looper is designed using ILQ control method of which the characteristics and algorithms are simply introduced. Finally, the performances of the ILQ servo controller are compared with those of the LQI servo controller from computer simulation. In result, it is shown that the proposed ILQ servo controller has the better performances and robustness far parameter perturbations and disturbances than those of LQI controller.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.2
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• pp.237-244
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• 2012

This paper studies the design of a two-DOF optimal controller for the strip gauge-tension of cold tandem mill processes, that uses a reference shaping filter and a disturbance observer. First, a mathematical model of the strip gauge and tension system is constructed using the gauge meter equation and Hooke's law, respectively. Next, a two-DOF controller considering of a feedforward controller and a feedback controller is designed. The former is based on the reference shaping filter and the disturbance observer, and the latter is based on the ILQ optimal control algorithm. Finally, it is shown through a computer simulation that the proposed optimal controller is able to improve the strip gauge accuracy and the tension variation more than the conventional MV-AGC controller.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.295-300
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• 2008

In this paper, a new looper controller is proposed to minimize the tension variation of a strip in the hot strip finishing mill. The proposed control technology is based on a receding horizon control (RHC) to satisfy the constraints on the control input/state variables. The finite terminal weighting matrix is used instead of the terminal equality constraint. The closed loop stability of the RHC for the looper system is analyzed to guarantee the monotonicity of the optimal cost. Furthermore, the RHC is combined with a 4SID(Subspace-based State Space System Identification) model identifier to improve the robustness for the parameter variation and the disturbance of an actuator. As a result, it is shown through a computer simulation that the proposed control scheme satisfies the given constraints on the control inputs and states: roll speed, looper current, unit tension, and looper angle. The control scheme also diminishes the tension variation for the parameter variation and the disturbance as well.

• Journal of Power System Engineering
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• v.19 no.4
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• pp.24-29
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• 2015

This paper designs a looper-tension controller for strip top-tail parts in hot strip finishing mills. A three-degree linear model of the looper-tension system is derived by a Taylor's linearization method, where the actuator's dynamics are ignored because of their fast responses. A feedforward shaping controller for the strip top part and a feedforward model reference controller for the strip tail part are respectively designed, they are combined with an ILQ(Inverse Linear Quadratic optimal control) feedback controller for the strip middle part. It is shown from by a computer simulation that the proposed controller is very effective to the strip top-tail parts including the middle part.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.93-98
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• 2001

This paper studies on the design of an ILQ(Inverse Linear Quadratic optimal control) looper control system for hot strip mills. The looper which is placed between each stand plays an important role in controlling strip width by regulating strip tension variation generated from the velocity difference of main work rolls. The mathematical model for looper is firstly obtained by Taylor's linearization of nonlinear differential equations, where it is given as a linear and time invariant state-space equation. Secondly, a looper servo controller is designed by ILQ control algorithm, which is an inverse problem of LQ(Linear Quadratic optimal control) control. By tunning control gain arbitration parameters and time constants, it is shown that the ILQ looper servo controller has the performance that makes well to follow desired trajectories of both strip tension and looper angle.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.56.5-56
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• 2002

This paper studies on the feedback linearization of the looper system for hot strip mills, where the looper system plays an important role in regulating the strip tension. Firstly, nonlinear dynamic equations of the looper system are simply introduced. Secondly, using the static feedback linearization algorithm, a linear model of the looper system is obtained, of which usefulness is validated from comparison between the linear model and the nonlinear model, and design of LQI(Linear Ouadratic Integral optimal control) and ILQ (Inverse Linear Quadratic optimal control) looper control systems. In result, it is shown that the linear looper model by the feedback linearization well describes nonlin...

• Journal of the Korean Society for Precision Engineering
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• v.31 no.2
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• pp.125-131
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• 2014

Winding is an integral operation in almost every roll-to-roll continuous process and center-winding is suitable and general scheme in the winding system. However, the internal stresses within center-wound rolls can cause damage such as buckling, spoking, cinching, etc. It is therefore necessary to analyze the relationship between taper tension in winding section and internal stress distribution within center-wound roll to prevent the winding failure. In this study, an optimal taper tension control method with parabolic taper tension profile for producing high quality wound roll was developed. The new logic was designed from analyzing the winding mechanism by using the stress model in center-wound rolls. The performance of the proposed taper tension profile was verified experimentally.

• Journal of Biosystems Engineering
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• v.37 no.2
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• pp.106-112
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• 2012

Purpose: A lab-scale timber carriage using a servo motor system was built. When two motors move a carriage, wire tension is changed according to the different line speeds caused by a wire drum's changing diameter, leading to inappropriate traveling characteristics of the carriage. In order to overcome this problem, PID Control was used to control the motor speed. Methods: Ziegler-Nichols method was used to determine PID gains. Results: The initial PID gains were 1.8, 0.025, and 0.006, respectively, and optimal gains of 1.4 and 0.010 for P and I gain were obtained experimentally. Conclusions: The results showed that constant wire tension could be maintained by controlling the speed of the motor using PI control. Overshoot occurred at initial motor operation due to vibration and elasticity of the wire itself.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.153-158
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• 2004

In this paper, we proposed a two-stage control of the container crane. The first stage control is time-optimal control for the purpose of fast trolley traveling. With suitable trolley velocity patterns, the sway which is generated during trolley moving is minimized. At the second stage control feedback control law is investigated for the quick suppression of residual vibration after the trolley motion. For more practical system, the container crane system is modeled as a partial differential equation (PDE) system with flexible cable. The dynamics of the cable is derived as a moving system with tension caused by payload using Hamilton's principle for the systems. A control law based upon the Lyapunov's method is derived. It is revealed that a time-varying control force and a suitable passive damping at the actuator can successfully suppress the transverse vibrations.