The Journal of Korean Institute of Communications and Information Sciences (한국통신학회논문지)

The Korean Institute of Commucations and Information Sciences (한국통신학회)
권호 표지

A LQ-PID Controller Tuning for TITO System

TITO 시스템의 LQ-PID 제어기 동조

  • 이동배 (삼성중공업(주) 메카트로닉스 센터 지능제어연구파트) ;
  • 서병설 (한양대학교 전자전기컴퓨터 공학부)
  • Published : 2004.09.01
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Abstract

This paper presents a decentralized LQ-PID controller for the TITO system which satisfies the performance of good command following, disturbance rejection, and sensor noise reduction that is design specifications in the frequency domain The procedure is developed by establishing the relationship between the closed-loop state equations including the decentralized PID tuning parameters and the closed-loop state equations of LQR and by selecting the weighting factors Q and R of the cost function in order to satisfy the design specifications in the frequency domain.

본 논문에서는 TITO 시스템에서 분산된 LQ-PID 제어기 설계방법을 제안하고,주파수 영역의 설계사양인 명령추종, 외란제거, 센서 잡음 저감도를 만족하도록 제어기를 설계하였다. 설계방법은 PID 제어요소를 포함한 폐루프 상태방정식과 LQR 폐루프 상태방정식의 관계를 유도하고 루프형성절차를 통해 가격함수의 가중치 요소 Q와 R을 선정함으로써 성능 및 안정도 강인성이 보장되도록 하였다.

Keywords

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