• 한국소음진동공학회논문집
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• 제16권3호
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• pp.283-290
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• 2006

이 연구는 알고 있는 단일 주기를 갖는 정적 및 주기적 외란의 제거에 대해서 다룬다. 자기력 부상시스템에서 외란력을 능동적으로 제거하기 위해서는 제어 입력이 두 가지 다른 이득 값을 가져야 한다. 하나는 시스템의 안정적 제어를 위한 부분이고 다른 하나는 외부로부터 시스템에 영향을 미치는 외란력의 제거를 위한 부분이다. 본 논문에서는 평형 빔을 안정 적으로 제어하기 위해서 간단한 상태 궤환 제어기를 채용하며, 외부로부터 시스템에 영향을 미치는 외란 성분을 추정하기 위해서 선형 관측기를 채용한다. 또한 자속의 궤환에 의해서 구성된 제어 전류는 관측기에 의해서 관측된 외란력과 외란력을 억제하려는 전자석의 힘의 차로 나타나며 이들 관계는 선형성을 유지한다. 이 선형성은 본질적으로 비선형성을 갖고 있는 자기력 부상 시스템에 대한 수치 해석적 용이함을 제공하며 이 논문에서 다루는 정적 및 주기외란의 제거를 위해서 우수한 성능을 발휘한다. 모의시험 결과는 제안된 제어 기법에 의한 정적 및 주기적 외란의 제거를 입증한다.

• 한국항해항만학회지
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• 제44권5호
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• pp.423-429
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• 2020

A ship's automatic steering system is the basis for addressing control difficulties related to course-changing and course-keeping during navigation through heading angle control, and is a link in realizing unmanned and autonomous ships. This study proposes a robust RCGA-based linear active disturbance rejection controller (LADRC) design method considering environmental disturbances, measurement noise, and model uncertainties in designing a ship heading controller for use when the ship is sailing. The LADRC consisted of a transient profile, a linear extended state observer, and a PD controller. The control gains in the LADRC with the linear extended state observer were adjusted by RCGAs to minimize the integral of the time-weighted absolute error (ITAE), which is an evaluation function of the control system. The proposed method was applied to ship heading control, and its effectiveness was validated by comparing the propulsive energy loss between the proposed method and a conventional linear PD controller. The simulation results showed that the proposed method had the advantages of lower propulsive energy loss, more robustness, and higher tracking precision than the conventional linear PD controller.

• Nuclear Engineering and Technology
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• 제55권3호
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• pp.850-860
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• 2023

An industrial control process multiple-input multiple-output (MIMO) coupled system is analyzed in this study as an example of a Loss of Coolant Accident (LOCA) simulation system. Ordinary control algorithms can complete the steady state of the control system and even reduce the response time to some extent, but the entire system still consumes a large amount of energy after reaching the steady state. So a multivariable decoupled energy-saving control method is proposed, and a novel energy-saving function (economic function, Eco-Function) is specially designed based on the active disturbance rejection control algorithm. Simulations and LOCA simulation system tests show that the Eco-function algorithm can cope with the uncertainty of the multivariable system's internal parameters and external disturbances, and it can save up to 67% of energy consumption in maintaining the parameter steady state.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.888-891
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• 1996

The objective of a mixed H$_{2}$/H$_{\infty}$ controller of active suspension system is to achieve not only the general performance improvement(H$_{2}$) but also the worst case disturbance rejection(H$_{\infty}$). In this paper, a mixed H$_{2}$/H$_{\infty}$ controller for an active suspension system, comparing the performance with that of an H$_{2}$ controller and of an H$_{\infty}$ controller.ler.EX> controller.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.956-962
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• 2008

This paper is devoted to yarn tension control problem in winding machines. The passive take-up unit is replaced by active one with ADRC(Active Disturbance Rejection Control) and it was compared with the method using conventional PD(Proportional-Derivative) controller. The main part of ADRC is ESO(Extended State Observer) which continuously estimates nonlinearities of the system, such as intrinsic nonlinearity, external disturbance and sensor noise. Then the estimated nonlinearity is used to compensate the real one, thus making controlled system linear. A number of experiments have been conducted in order to verify the performance of the original winding system to the modified one. Experiments have shown improved efficiency of the system with adopting active yarn tension control. Experimental results show that the ADRC achieves a better tension response than PD controller and is robust to parameters variation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.293-298
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• 1993

In ground vehicles, the increasing demand for safety and ride comfort which are trade-off relation, especially at high speeds, has led to the development od actively controlled suspensions. The LQG/LTR controller can be used to design a robust feedback control system that deals with disturbance rejection properties as well as insensitivity to modelling errors and sensor noise. And when the disturbance can not be measured but is limited within a certain frequency range, a bandpass feedback to eliminate the disturbance response can be used. In this paper, hybrid controller cosisted of bandpass feedback controller and LQG/LTR controller is applied to a quarter-car model moving on a randomly profiled road. The random road profile considered as colored noise is shaped from white noise by use of shaping filter. The performance of the hybrid control system is compared with that of an LQG/LTR controlled system.

• Advances in robotics research
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• 제2권3호
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• pp.237-245
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• 2018

This study evaluates the efficacy of a class robust control scheme namely active force control in performing a joint based trajectory tracking of an upper limb exoskeleton in rehabilitating the elbow joint. The plant of the exoskeleton system is obtained via system identification method whilst the PD gains were tuned heuristically. The estimated inertial parameter that enables the AFC disturbance rejection effect is attained by means of a non-nature based metaheuristic optimisation technique known as simulated Kalman filter (SKF). It was demonstrated from the present investigation that the proposed PDAFC scheme outperformed the classical PD algorithm in tracking the prescribed trajectory both in the presence and without the presence of disturbance attributed by the mannequin limb weights (1 kg and 1.5 kg) that mimics the weight of actual human limb weight. Therefore, it is apparent from the results obtained from the present study that the proposed control scheme, i.e., PDAFC is suitable for the application of exoskeleton for stroke rehabilitation.

• 한국소음진동공학회논문집
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• 제14권5호
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• pp.439-448
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• 2004

Magnetic bearing is an attractive device in precision engineering field because of its non-contacting nature and controllability of its dynamic characteristics. This paper provides a method of designing a sliding mode control for an active magnetic hearing(AMB) system which is used to support the elevation axis of a target tracking sight instead of mechanical bearings to eliminate the effect of mechanical friction. In such system, the axis should be levitated and supported within a predetermined air gap while AMB is excited by base motion. Experimental results showed that the sliding mode control is effective in disturbance rejection than conventional PID-control without any additive measurements.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.47.5-47
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• 2001

In this paper. a road-adaptive LQG control for the semiactive Macpherson strut suspension system of hydraulic type is investigated. A new control oriented model, which incorporates the rotational motion of the unsprung mass, is introduced. A semi-active suspension controller adapting to road variations is proposed. First, based on the extended least squares estimation algorithm, a LQG controller adapting to the estimated road characteristics is designed. Through the computer simulations, the performance of the proposed semi-active suspension is compared with that of a non-adaptive one. The results show better control performance of the proposed system over the compared one.

• 한국자동차공학회논문집
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• 제9권3호
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• pp.92-99
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• 2001

This paper presents a simulation study using a robust controller to improve the roll stability of a vehicle. The controller is designed in the framework of an output feedback H$_{\infty}$ control scheme based on the 3DOF linear vehicle model, solving the mixed-sensitivity problem to guarantee the robust stability and disturbance rejection with respect to parameter variations due to laden and running vehicle conditions. In order to investigate the feasibility of the active roll control system in a real car, its performance is evaluated by simulation in a 10DOF full vehicle model with actuator dynamics and tire characteristics.