• 제목/요약/키워드: Decoupled Control

검색결과 197건 처리시간 0.023초

원추형 능동 자기베어링계의 모형화 및 제어 (Modeling and Control of Cone-Shaped Active Magnetic Bearing System)

  • 정호섭;김철순;이종원
    • 대한기계학회논문집
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    • 제17권12호
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    • pp.3073-3082
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    • 1993
  • A magnetically suspended robot joint is developed, which is free of dust and oil generation. Two radial bearings consisting of cone-shaped magnet cores control the rotor motion in the axial and radial directions. A linearized dynamic model is developed for active control of the magnetic bearing system. The control algorithm is constructed such that the axial displacement of the joint is controlled by radial control current to the pairs of facing radial bearings. The stability and control performance is tested through numerical simulation based on the nonlinear model. Experiments are also performed to verify the theoretical development.

비간섭 제어에 의한 반송용 편측식 선형 유도전동기의 속도제어 (Speed Control of the Conveyance SLIM by the Decoupling Control)

  • 신동률;정영일;최선영;노태균;우정인
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1998년도 하계학술대회 논문집 F
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    • pp.2142-2144
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    • 1998
  • We proposed the speed control of the SLIM(Single-sided Linear Induction Motor) for conveyance system by the decoupled thrust control. The voltage equations of SLIM are expressed on the suitable $\alpha-\beta$ axis by the proposed equivalent circuit, which can analyze the characteristics of the thrust and the normal force and so on. These control methods, which are the slip angular frequency control and the decoupling control for the thrust and normal force by analyzing these parameters can be successfully driven without interfering of each axis. These results exemplified the linear drive of SLIM with the reference value.

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DSP-based Robust Nonlinear Speed Control of PM Synchronous Motor Using Adaptive and Sliding Mode Control Techniques

  • Baik, In-Cheol;Kyeong-Hwa;Kwan-Yuhl;Youn, Myung-Joong
    • Journal of Electrical Engineering and information Science
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    • 제3권2호
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    • pp.251-260
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    • 1998
  • A DSP-based robust nonlinear speed control of a permanent magnet synchronous motor(PMSM) which is robust to unknown parameter variations and speed measurement error is presented. The model reference adaptive system(MRAS) based adaptation mechanisms for the estimation of slowly varying parameters are derived using the Lyapunov stability theory. For the disturbances or quickly varying parameters. a quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of a PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of the nonlinear speed control of a PMSM is designed and compared with the conventional controller. To show the validity of the proposed control scheme, simulations and experimental works are carried out and compared with the conventional control scheme.

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상.하체 분리 매개화를 통한 블렌딩 기반의 모션 합성 (Decoupled Parametric Motion Synthesis Based on Blending)

  • 하동욱;한정현
    • 한국HCI학회:학술대회논문집
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    • 한국HCI학회 2008년도 학술대회 1부
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    • pp.439-444
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    • 2008
  • 추상적인 매개공간을 예제모션들로 표본추출(sampling)하고, 그것들을 보간하여 주어진 입력 매개변수(parametrs)와 대응되는 블렌딩 가중치(blend weights)를 계산하는 블렌딩 기반의 매개화된 합성기법은 뛰어난 제어력과 효율성 때문에 널리 쓰이고 있다. 그러나 보다 세부적인 모션 제어를 위해 매개공간의 차원을 증가시킬수록, 표본추출을 위해 필요한 예제모션의 수가 기하급수적으로 늘어나게 된다. 본 논문은 상체모션과 하체모션의 분리된 생성 및 제어를 위해 두 개의 매개공간(parameter spaces)을 사용하는 방법론을 제안한다. 즉, 매 애니메이션 프레임마다 각 매개공간으로부터 두 개의 바탕프레임(source frames)이 추출되면, 하나로부터의 상체를 다른 하나의 하체에 접합(splicing)하여 실시간으로 목적모션을 생성한다. 이를 통해 사용자가 입력한 상체제약과 하체제약을 모두 만족하는 모션을 생성할 수 있을 뿐만 아니라 매개공간의 차원 복잡도에서 기인하는 문제를 해결할 수 있다. 본 논문을 통해, 우리는 두 개의 매개화된 모션공간으로부터 시간적 상호관계가 고려된 모션을 생성하기 위한 새로운 시간왜곡(time-warping)기법을 제안한다. 또한 상체의 공간적 특성을 기반으로 예제모션들을 매개화할 경우, 접합되는 하체에 따라 변경되는 예제모션들의 매개변수를 빠르게 근사하기 위한 기법을 소개한다.

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적응제어와 슬라이딩제어를 이용한 영구자석 동기전동기의 비선형 강인제어 (Robust Nonlinear Speed Control of PM Synchronous Motor using Adaptive and Sliding Mode Control Techniques)

  • 백인철;김경화;윤명중
    • 전력전자학회:학술대회논문집
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    • 전력전자학회 1997년도 전력전자학술대회 논문집
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    • pp.70-78
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    • 1997
  • A DSP-based nonlinear speed control of a permanent magnet synchronous motor(PMSM) which is robust to unknown parameter variations and speed measurement error is presented. The model reference adaptive system(MRAS) based adaptation mechanisms for the estimation of slowly varying parameters are derived using the Lyapunov stability theory. For the disturbances or quickly varying parameters, a quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of the PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of a PMSM drive is designed and compared with the conventional controller. To show the validity of the proposed control scheme, simulations and experimental works are carried out and compared with the conventional control scheme.

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비선형 변환제어에 의한 3자유도 수직 다관절 로봇의 제어 (Control of a 3-DOF vertical articulated robotic system using nonlinear transformation control)

  • 양창일;백윤수
    • 대한기계학회논문집A
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    • 제21권11호
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    • pp.1809-1818
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    • 1997
  • Mathematical models of industrial robots or manipulators are highly nonlinear equations with nonlinear coupling between the variables of motion. As the working speed has been fast, the effects of nonlinear terms have become serious. So the control algorithm based on approximately linearized equation looses the efficiency. In order to design the control law for the nonlinear models, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory in this study. Nonlinear terms of the system are eliminated and coupled terms are decoupled by this feedback law. This method is applied to a 3-D.O.F. vertical articulated manipulator by both experiments and simulations and compared with PID control which is widely used in the industry.

DSP-based Robust Nonlinear Speed Control of PM Synchronous Motor

  • Baik, In-Cheol;Kim, Kyeong-Hwa;Youn, Myung-Joong
    • Journal of Electrical Engineering and information Science
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    • 제3권1호
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    • pp.94-102
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    • 1998
  • A DSP-based robust nonlinear speed control of a permanent magnet synchronous motor(PMSM) is presented. A quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of a PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of the nonlinear speed control of a PMSM is designed and compared with the conventional controller. To show the validity of the proposed control scheme, simulations and experimental works are carried out and compared with the conventional control scheme.

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순시전력 제어 이론을 이용한 유/무효전력의 독립제어에 관한 연구 (A Study on the Decoupled Control of the Active and Reactive Power using Instantaneous Power Control Theory)

  • 김응상;김지원;김영철
    • 대한전기학회논문지:전력기술부문A
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    • 제48권6호
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    • pp.678-682
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    • 1999
  • In this paper, we propose the algorithm which can control active power and reactive power independently in Battery Energy Storage System. The proposed algorithm is based on the instantaneous power theory that the inner product of the voltage vector and current vector represents the active power and the cross product of those represents the reactive power, and it can control active power and reactive power independently. To verify the validity of the proposed algorithm, we make model of the real power system in th KERI and simulate this algorithm. As a result of this simulation, we verified that the proposed algorithm can control active power and reactive power independently.

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슬라이딩 모드를 이용한 매니퓰레이터의 궤적추종제어 (The Tracking Control of Manipulator using Sliding Modea)

  • 전희영;박귀태;김동식
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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    • pp.41-46
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    • 1987
  • A new control scheme is developed to achieve fast and accurate decoupled tracking for an n-Joint robotic manipulator In the Presence of disturbances and unknown Parameter variations. The control system is designed so that a new type of state trajectories called sliding mode may exist in a phase plane. In order to remove the reaching Phase and high frequency chattering phenomenon which ate the common shortcomings of variable structure control(VSC) scheme, this paper presents the new switching line which is composed of three segments and the continuous control law which is derived from the existence condition of a sliding mode. The Proposed methods in this Paper are applied to a 3-Joint robotic manipulator as a numerical example-The digital simulation results which are compared with those of typical VSC scheme show the validity of accurate tracking capability and robust Performance of the system.

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신경 회로망을 이용한 유도 전동기의 전류제어 (Current Control of Induction Motor using Neural Networks)

  • 박영수;서호준;김성한;서삼준;김동식;박귀태
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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    • pp.66-68
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    • 1997
  • In this paper, our interest is the identification and control of nonlinear dynamic plant, induction motor, by using neural networks. We usually use vector control in the induction motor such as in the DC motor. When we go over the inputs of voltage source invertor, we can find that torque current and flux current couple each other in the induction motor. Before putting control inputs in the system, we should remove the coupling terms which we already know from them. But we should consider that cross coupling terms have time-varying variables. In this paper, we identified the parameter of induction motor by using neural networks and designed the controller with identified parameters. Through this procedure we obtained compensated inputs which are decoupled each other. Using induction motor currents control, we can make the d axis current hold constant value and control the q axis current at the same time.

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