• Title/Summary/Keyword: Delay Tracking

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Analytical Design of PID Controller for Improved Disturbance Rejection of Delay-Free Processes (시간지연이 없는 공정에서의 외란제거 성능 향상을 위한 PID 제어기의 해석적 설계)

  • Jujuly, M. Masum;Vu, Truong Nguyen Luan;Lee, Moonyong
    • Korean Chemical Engineering Research
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    • v.49 no.5
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    • pp.565-570
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    • 2011
  • In this paper, the analytical tuning rules of the proportional-integral-derivative (PID) controller have been derived for a broad class of stable, integrating, and unstable processes without time delay. On the basis of the renowned internal model control (IMC) design principles and the two-degree-of-freedom (2DOF) control structure, the proposed method can be effectively used for obtaining the enhanced performances of both the disturbance rejection as well as the set-point tracking problems, since the design scheme is simple, straightforward, and can be easily implemented in the process industry. Several processes without time delay are employed to demonstrate the improved closed-loop performance of the proposed controller design in compared with the other well-known design methods in terms of the same degree of robustness.

Low Delay Data Transmission Mechanism for Military Surveillance in Wireless Sensor Networks (무선 센서 네트워크에서 군 감시 정찰을 위한 저 지연 데이터 전송 메커니즘)

  • Jeon, Jun-heon;Lee, Sung-choon
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.21 no.4
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    • pp.855-860
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    • 2017
  • One of the most important issues in Wireless Sensor Networks is to save energy of the sensor node. But transmission latency is also the problem to solve for some applications such as military surveillance, object tracking. In these applications sensor node needs to send lots of data in limited time when an even such as object appearance occurs. So a delay efficient data transmission method is required. In this paper we propose a MAC protocol adequate for those applications. This paper proposed a low delay data transmission mechanism for military surveillance in wireless sensor networks. In the MAC protocol, a receiver node sends another beacon frame to sender node after receiving data packet. Using this second beacon frame, fast hop-to-hop transmission can be performed. Results have shown that the proposed MAC control mechanism outperformed RI-MAC protocol in the terms of latency.

Network Modeling and Analysis of Multi Radar Data Fusion for Efficient Detection of Aircraft Position (효율적인 항공기 위치 파악을 위한 다중 레이더 자료 융합의 네트워크 모델링 및 분석)

  • Kim, Jin-Wook;Cho, Tae-Hwan;Choi, Sang-Bang;Park, Hyo-Dal
    • Journal of Advanced Navigation Technology
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    • v.18 no.1
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    • pp.29-34
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    • 2014
  • Data fusion techniques combine data from multiple radars and related information to achieve more accurate estimations than could be achieved by a single, independent radar. In this paper, we analyze delay and loss of packets to be processed by multiple radar and minimize data processing interval from centralized data processing operation as fusing multiple radar data. Therefore, we model radar network about central data fusion, and analyze delay and loss of packets inside queues on assuming queues respectively as the M/M/1/K using NS-2. We confirmed average delay time, processing fused multiple radar data, through the analysis data. And then, this delay time can be used as a reference time for radar data latency in fusion center.

Teleoperatoin System Control using a Robust State Estimation in Networked Environment (네트웍 환경에서의 강건상태추정을 이용한 원격조작시스템 제어)

  • Jin, Tae-Seok;Kim, Hyun-Sik
    • Journal of the Korean Institute of Intelligent Systems
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    • v.18 no.6
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    • pp.746-753
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    • 2008
  • In this paper, we introduce the improved control method are communicated between a master and a slave robot in the teleoperation systems. When the master and slave robots are located in different places, time delay is unavoidable under the network environment and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The time delay may cause instability in teleoperation systems especially if those systems include haptic feedback. This paper presents a control scheme based on the estimator with virtual master model in teleoperation systems over the network. As the behavior of virtual model is tracking the one of master model, the operator can control real master robot by manipulating the virtual robot. And LQG/LTR scheme was adopted for the compensation of un-modeled dynamics. The approach is based on virtual master model, which has been implemented on a robot over the network. Its performance is verified by the computer simulation and the experiment.

Simulation of Time-Delay Based Path-Tracking Control of Reusable Launch Vehicle (시간지연기법을 적용한 재사용발사체 유도제어 시뮬레이션)

  • Cho, Woosung;Lee, HyeongJin;Lee, Yeol;Ko, Sangho
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.49 no.8
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    • pp.627-636
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    • 2021
  • This paper deals with a study for the guidance control of reusable launch vehicle. For this purpose, modeling of the equation of motion of a reusable launch vehicle with 6 degrees of freedom was performed. With this model, an optimal re-entry path was created and a path-following guidance control simulation was performed to follow the optimal re-entry path. For the design of the path-following guidance controller, the attitude controller applying a time-delay technique that is resistant to modeling uncertainty, disturbance and failure. And the nonlinear path-following guidance law were used. Guidance control simulation using a classical PD controller was performed and compared with the guidance control simulation of a reusable launch vehicle applying a time delay technique.

Maximum Power Tracking Control for parallel-operated DFIG Based on Fuzzy-PID Controller

  • Gao, Yang;Ai, Qian
    • Journal of Electrical Engineering and Technology
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    • v.12 no.6
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    • pp.2268-2277
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    • 2017
  • As constantly increasing wind power penetrates power grid, wind power plants (WPPs) are exerting a direct influence on the traditional power system. Most of WPPs are using variable speed constant frequency (VSCF) wind turbines equipped with doubly fed induction generators (DFIGs) due to their high efficiency over other wind turbine generators (WTGs). Therefore, the analysis of DFIG has attracted considerable attention. Precisely measuring optimum reference speed is basis of utilized maximum wind power in electric power generation. If the measurement of wind speed can be easily taken, the reference of rotation speed can be easily calculated by known system's parameters. However, considering the varying wind speed at different locations of blade, the turbulence and tower shadow also increase the difficulty of its measurement. The aim of this study is to design fuzzy controllers to replace the wind speedometer to track the optimum generator speed based on the errors of generator output power and rotation speed in varying wind speed. Besides, this paper proposes the fuzzy adaptive PID control to replace traditional PID control under rated wind speed in variable-pitch wind turbine, which can detect and analyze important aspects, such as unforeseeable conditions, parameters delay and interference in the control process, and conducts online optimal adjustment of PID parameters to fulfill the requirement of variable pitch control system.

HF Data Communication Service Using SSB Modems for Maritime Applications (SSB 모뎀을 이용한 해상용 HF 데이터 통신 서비스)

  • Choo, Young-Yeol;Jung, Da-Un
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.15 no.12
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    • pp.2549-2554
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    • 2011
  • This paper describes on development of integrated interface and applications to support stable digital data communication service for small and midium sized crafts exploiting SSB modems and HF wireless sets. Firstly, integrated interface module between GPS (Global Positioning System) and communication devices was developed. Secondly, maritime map was implemented into a display terminal to provide location tracking service and voyage planning function. In addition, condition monitoring service of crafts and fishing report functions as well as alarm functions were developed to support secure fishery. Results of performance measure on developed application services shows that error rate was less than 3% and communication delay was shorter than 1 second when a message length was less than 1 Kbyte along with one-to-many communication type.

Iterative Feed-forward Control of Shaking Table System Based on FRF of Hydraulic Actuator (유압 서보 구동기의 동특성을 고려한 진동 시험기의 반복 피드포워드 제어)

  • Lee, Dong-Jae;Park, Young-Jin;Park, Youn-Sik;Kim, Hyoung-Eui;Park, Jong-Won
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2007.05a
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    • pp.556-560
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    • 2007
  • In this paper, the research results for the improvement of tracking performance of a hydraulic shaking table are presented. A servo-hydraulic shaking table is not only highly nonlinear but also has a lot of time delay. In addition, the shaking table, which consists of multi axial hydraulic actuators, is a MIMO system coupled by kinematics and dynamics of each other's actuators. And it is demanded for the shaking table to track arbitrary trajectories up to high frequency even at the extreme situations such as substantial external loads and large disturbances. For this purpose, an iterative feed-forward control based on the inverse of a measured frequency response function is used for the shaking table. To solve the dynamic coupling, a pressure feedback control as numerical damping is used. It is shown through numerical simulations that the tracking performance of shaking table is improved up to 100Hz.

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Autonomous Vehicle Tracking Using Two TDNN Neural Networks (뉴럴네트워크를 이용한 무인 전방차량 추적방법)

  • Lee, Hee-Man
    • The Transactions of the Korea Information Processing Society
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    • v.3 no.5
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    • pp.1037-1045
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    • 1996
  • In this paper, the parallel model for stereo camera is employed to find the heralding angle and the distance between a leading vehicle and the following vehicle, BART(Binocular Autonomous Research Team vehicle). Two TDNNs (Time Delay Neural Network) such as S-TDNN and A-TDNN are introduced to control BART. S-TDNN controls the speed of the following vehicle while A-TDNN controls the steering angle of BATR. A human drives BART to collect data which are used for training the said neural networks. The trained networks performed the vehicle tracking function satisfactorily under the same driving conditions performed by the human driver. The neural network approach has good portability which decreases costs and saves development time for the different types of vehicles.

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A Fast-Transient Repetitive Control Strategy for Programmable Harmonic Current Source

  • Lei, Wanjun;Nie, Cheng;Chen, Mingfeng;Wang, Huajia;Wang, Yue
    • Journal of Power Electronics
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    • v.17 no.1
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    • pp.172-180
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    • 2017
  • The repetitive control (RC) strategy is widely used in AC power systems because of its high performance in tracking period signal and suppressing steady-state error. However, the dynamic response of RC is determined by the fundamental period delay $T_0$ existing in the internal model. In the current study, a ($nk{\pm}i$)-order harmonic RC structure is proposed to improve dynamic performance. The proposed structure has less data memory and can improve the tracking speed by n/2 times. $T_0$ proves the effectiveness of the ($nk{\pm}i$)-order RC strategy. The simulation and experiments of ($6k{\pm}1$)-order and ($4k{\pm}1$)-order RC strategy used in the voltage source inverter is conducted in this study to control the harmonic current source, which shows the validity and advantages of the proposed structure.