• 제목/요약/키워드: Derivative Feedback Gain

검색결과 21건 처리시간 0.026초

근궤적과 수동 조정에 의한 직접 구동형 서보밸브의 PID 제어기 및 미분피드백 이득 설계 (PID Controller and Derivative-feedback Gain Design of the Direct-drive Servo Valve Using the Root Locus and Manual Tuning)

  • 이성래
    • 드라이브 ㆍ 컨트롤
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    • 제13권3호
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    • pp.15-23
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    • 2016
  • The direct-drive servo valve(DDV) is a kind of one-stage valve because the main spool valve is directly driven by the dc motor. Since the DDV structure is simple, it is less expensive, more reliable, and offers a reduced internal leakage and a reduced sensitivity to fluid contamination. The control system of the DDV is highly nonlinear due to a current limiter, a voltage limiter, and the flow-force effect on the spool motion. The shape of the step response of the DDV-control system varies considerably according to the magnitudes of the step input and the load pressure. The system-design requirements mean that the overshoots should be less than 20%, and the errors at 0.02s should be less than 2%, regardless of the reference-step input sizes of 1V and 5V and the load-pressure magnitudes of 0MPa and 20.7MPa. To satisfy the system-design requirements, the PID-controller parameters of $K_c$, $T_i$ and $T_d$, and the derivative-feedback gain of $K_{der}$ are designed using the root locus and manual tuning.

출력 미분값의 추정에 의한 선형 시불변 시스템의 로버스트 출력 궤환 제어 (Robust output feedback control of LTI system using estimated output derivatives)

  • Lee, Gun-Bok
    • 대한전기학회논문지
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    • 제45권2호
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    • pp.273-282
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    • 1996
  • This work is conceded with the estimation of output derivatives and their use for the design of robust controller for linear systems with system uncertainties due to modeling errors and disturbances. It is assumed that a nominal transfer function model and quantitative bounds for system uncertainties and known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted through restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Control)type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.

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Effect of feedback on PID controlled active structures under earthquake excitations

  • Nigdeli, Sinan Melih
    • Earthquakes and Structures
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    • 제6권2호
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    • pp.217-235
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    • 2014
  • In this paper, different feedback control strategies are presented for active seismic control using proportional-integral-derivative (PID) type controllers. The parameters of PID controller are found by using an numerical algorithm considering time delay, maximum allowed control force and time domain analyses of shear buildings under different earthquake excitations. The numerical algorithm scans combinations of different controller parameters such as proportional gain ($K_p$), integral time ($T_i$) and derivative time ($T_d$) in order to minimize a defined response of the structure. The controllers for displacement, velocity and acceleration feedback control strategies are tuned for structures with active control at the first story and all stories. The performance and robustness of different feedback controls on time and frequency responses of structures are evaluated. All feedback controls are generally robust for the changing properties of the structure, but acceleration feedback control is the best one for efficiency and stability of control system.

Design of a dynamic output feedback law for replacing the output derivatives

  • Son, Young-I.;Shim, Hyung-Bo;Jo, Nam-H.;Kim, Kab-Il
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.337-341
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    • 2003
  • This paper provides a design method for a dynamic output feedback controller which stabilizes a class of linear time invariant systems. We suppose all the states of the given system is not measurable and only the outputs are used to stabilize the system. The systems considered cannot be stabilized by a static output feedback only. In the scheme we first assume that the given system can be stabilized by a state feedback composed of its output, velocity of the output and its higher order derivative terms. Instead of using the derivatives of the output, however, a dynamic system is constructed systematically which replaces the role of the derivative terms. Then, a high-gain output feedback stabilizes the composite system together with the newly constructed system. The performance of the proposed control law is illustrated in the comparative simulation studies of a numerical example with an observer-based control law.

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선형 다변수 시스템에 있어서 시간비중 성능지수를 이용한 최적 상수 PIDM 궤한 제어기 (Optimal Constant PIDM Feedback Controller using Time Weighted Performance Index for Linear Multivariable Systems)

  • 권봉환;윤명중
    • 대한전기학회논문지
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    • 제36권5호
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    • pp.360-366
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    • 1987
  • The design problem of optimal constant PIDM (proportional-integral-derivative and measurable variable) feedback controller for linear time-invariannt systems is investigated with the time-weighted quadratic performance index. Necessary conditions for an optimality of the controller are derived and an algorithm for computing the optimal feedback gain is presented. It is shown via example that the design mithod using the time-weighted quadratic performance index improves the transient responses of the closed-loop system.

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상태궤환을 이용한 상호 결합된 시스템의 새로운 비집중 안정화 방법 (A New Stabilization Method for a Class of Interconnected Systems By Using Local State Feedback)

  • 채석;변증남
    • 대한전자공학회논문지
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    • 제26권10호
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    • pp.1498-1506
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    • 1989
  • A new stabilization scheme is proposed in which the local state feedback is utilized in each decentralized controller for large-scale interconnected systems. In the proposed scheme, the controller is designed in two steps. First, the feedback gain of each decentralized controller is temporarily chosen so that the eigenvalues of each isolated subsystem are placed at the desired locations in the complex plane. Secondly, the feedback gain of each controller is compensated so that the time derivative of the Lyapunov function candidate for the overall closed-loop system should be negative. A sufficient condition which assures the global system to stable is given.

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수동화 기법에 의한 비정방 선형 시스템의 강인 제어기 설계 (Robust Controller Design for Non-square Linear Systems Using a Passivation Approach)

  • 손영익
    • 제어로봇시스템학회논문지
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    • 제8권11호
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    • pp.907-915
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    • 2002
  • We present a state-space approach to design a passivity-based dynamic output feedback control of a finite collection of non-square linear systems. We first determine a squaring gain matrix and an additional dynamics that is connected to the systems in a feedforward way, then a static passivating (i.e. rendering passive) control law is designed. Consequently, the actual feedback controller will be the static control law combined with the feedforward dynamics. A necessary and sufficient condition for the existence of the parallel feedfornward compensator (PFC) is given by the static output feedback fomulation, which enables to utilize linear matrix inequality (LMI). The effectiveness of the proposed method is illustrated by some examples including the systems which can be stabilized by the proprotional-derivative (PD) control law.

매개변수 불확실성이 있는 시스템의 출력미분치 추정 (Estimation of Output Derivative of The System with Parameters Uncertainty)

  • 김유승;양호석;이건복
    • 한국공작기계학회:학술대회논문집
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    • 한국공작기계학회 2002년도 춘계학술대회 논문집
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    • pp.543-550
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    • 2002
  • This work is concerned with the estimation of output derivatives and their use for the design of robust controller for linear systems with systems uncertainties due to modeling errors and disturbance. It is assumed that a nominal transfer function model and Quantitative bounds for system uncertainties are known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted trough restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Controller) Type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.

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유압식 이족 휴머노이드 로봇의 ZMP 기반 게인 스위칭 알고리즘을 이용한 관절 위치 제어 (Joint Position Control using ZMP-Based Gain Switching Algorithm for a Hydraulic Biped Humanoid Robot)

  • 김정엽
    • 제어로봇시스템학회논문지
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    • 제15권10호
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    • pp.1029-1038
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    • 2009
  • This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.

외란이 있는 시스템의 출력미분치 추정 (Estimation of Output Derivative of The System with Disturbance)

  • 김유승;양호석;이건복
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2002년도 춘계학술대회 논문집
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    • pp.253-258
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    • 2002
  • This work is concerned with the estimation of output derivatives and their use for the design of robust controller for linear systems with systems uncertainties due to modeling errors and disturbance. It is assumed that a nominal transfer function model and quantitative bounds for system uncertainties are known The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted trough restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Controller)Type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.

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