• Title/Summary/Keyword: LQG제어

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Active Aeroelastic Response Control of 3-D Airfoil System with Flap (플랩이 있는 날개의 공탄성 응답 능동제어)

  • 정찬훈;나성수
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2003.05a
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    • pp.926-931
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    • 2003
  • 본 연구는 비압축성 유동에 노출되어 있는 2-D wing-flap 시스템의 공탄성 응답의 능동제어를 다루고 있다. 본 연구 논문의 목표는 LQG 제어법칙을 수행함으로써 임계 비행속도하에서 플러터의 비안정성을 억제하고 돌풍이나 blast load에 의한 임계 공탄성 응답의 성능을 향상시키는 것과 동적응답을 감쇠하는 수행능력들을 증명하는데 있다.

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Robust Control of a Haptic Interface Using LQG/LTR (LQG/LTR을 이용한 Haptic Interface의 강인제어)

  • Lee, Sang-Cheol;Park, Heon;Lee, Su-Sung;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.9
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    • pp.757-763
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    • 2002
  • A newly designed haptic interface enables an operator to control a remote robot precisely. It transmits position information to the remote robot and feeds back the interaction force from it. A control algorithm of haptic interface has been studied to improve the robustness and stability to uncertain dynamic environments with a proposed contact dynamic model that incorporates human hand dynamics. A simplified hybrid parallel robot dynamic model fur a 6 DOF haptic device was proposed to from a real time control system, which does not include nonlinear components. LQC/LTR scheme was adopted in this paper for the compensation of un-modeled dynamics. The recovery of the farce from the remote robot at the haptic interface was demonstrated through the experiments.

차량 능동 현가장치의 혼합제어기 설계

  • 한기봉;이시복
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1993.10a
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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.

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Multirate LQG Control Based on the State Expansion (상태 공간 확장에 의한 멀티레이트 LQG 제어)

  • 이진우;오준호
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.2
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    • pp.131-138
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    • 1999
  • In discrete-time controlled system, sampling time is one of the critical parameters for control performance. It is useful to employ different sampling rates into the system considering the feasibility of measuring system or actuating system. The systems with the different sampling rates in their input and output channels are named multirate system. Even though the original continuous-time system is time-invariant, it is realized as time-varying state equation depending on multirate sampling mechanism. By means of the augmentation of the inputs and the outputs over one Period, the time-varying system equation can be constructed into the time-invariant equation. In this paper, an alternative time-invariant model is proposed, the design method and the stability of the LQG (Linear Quadratic Gaussian) control scheme for the realization are presented. The realization is flexible to construct to the sampling rate variations, the closed-loop system is shown to be asymptotically stable even in the inter-sampling intervals and it has smaller computation in on-line control loop than the previous time-invariant realizations.

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A Study on the Design of an Indirect Shift Transient Torque Controller for an Automatic Power Transmission System (자동변속장치의 간접식 과도토오크 제어기 설계에 관한 연구)

  • Jung, H.S.;Lee, K.I.
    • Transactions of the Korean Society of Automotive Engineers
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    • v.2 no.5
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    • pp.110-120
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    • 1994
  • Due to the increasing demands in comfortable drivability, most motor companies are developing their own unique shift controller to suppress the shift shock induced by gear change. For a typical automatic transmission system, the dynamic constraints of friction clutch was clarified for efficient program development and major factors effecting the shift transient was confirmed by simulation study. The MIMO LQG/LTR controller was designed to control the turbine and corresponding gear speed. By establishing the control strategy recalling transient response during shift the speed controller mentioned above was used as an indirect torque controller. Consequently a new concept for a systematic design method of shift controller applicable to wide-varying systems was suggested which is time efficient and cost efficient saving a lot of experimental study.

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Simultaneous Optimization of Structural and Control Systems for Vibration Control of Flexible Beams (유연보의 진동제어를 위한 구조계와 제어계의 동시최적화)

  • 김창동;정의봉
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.18 no.12
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    • pp.3127-3135
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    • 1994
  • An approach to the simultaneous optimal design of structure and control system for large free-free flexible beam is presented. The flexible beam is modeled by the finite element method. And the reduced model of small degree of freedom is constructed by use of modal analysis. The tapered beam is considered so that the number of design variables is not dependent on the increasing number of finite elements. The width of several points of tapered beam and control gain are taken as design variables. The shape of beam and control gain are optimized simultaneously for the minimum weight of total structure including control system subject to the constraints of the magnitude of displacement of beam. It is shown that the simultaneous optimal design of structure and control systems is indeed useful.

Composite Control of Active Suspension System (차량 능동 현가장치의 성능 향상을 위한 복합제어기 설게)

  • Han, Ki-Bong;Lee, Shi-Bok
    • Journal of the Korean Society for Precision Engineering
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    • v.12 no.7
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    • pp.74-81
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    • 1995
  • In this paper, a composite controller cosisted of bandpass feedback controller and LQG/LTR controller is applied to a quarter-car model moving on a randomly profiled road. The LQG/LTR controller is used to achieve a design transfer toop. A bandpass feedback controller is adopted to eliminate the response due to the disturbance, which generally can not be measured, confined within an interested frequence range. The random road profile considered as colored noise is shaped from white noise by use of shaping filter. The performance of the composite control system is compared with that of an LQG/LTR control system.

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$H_{\infty}$ Self-Tuning Control of a Flexible Link Robot with Unknown Payload (미지 부하 질량을 갖는 유연 링크 로봇의 $H_{\infty}$ 자기 동조 제어)

  • Han, Ki-Bong;Lee, Shi-Bok
    • Journal of the Korean Society for Precision Engineering
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    • v.14 no.2
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    • pp.160-168
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    • 1997
  • A $H_{\infty}$self-tuning control scheme for the tip position of a flexible link robot handling unknown loads is presented here. The scheme essentially comprises a recursive least-squares identification algorithm and $H_{\infty}$self-tunning controller. The $H_{\infty}$control low is designed to be robust to uncertain parameters and the self-tunning action provides adaption to unknown parameters. Through numerical study, the performance comparison of the $H_{\infty}$self-tuning controller with a constant gain $H_{\infty}$controller as well as a LQG self-tuning controller clearly shows its superior ability in handling load changes in quiescent states.nt states.

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The LQG/LTR Dynamic Digital Control System Design for the Nuclear Steam Generator Water Level (증기발생기 디지탈 수위조절 시스템의 LQG / LTR 동적 제어설계)

  • Lee, Yoon-Joon
    • Nuclear Engineering and Technology
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    • v.27 no.5
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    • pp.730-742
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    • 1995
  • The steam generator feedwater and level control system is designed by two steps of the feedwater control design and the feedback loop controller design. The feedwater sen system is designed by the optimal LQR/LQG approach and then is modified by the LTR method to recover the robustness. The plant characteristics are subject to change with the power variation and these dynamic properties are considered in the design of the feedback controller. All the designs are made in the continuous domain and are digitalized by applying the proper sampling period. The system is simulated for the two cases of power increase and decrease. From the results of simulation, it is found that the controller constants would rather be invariable during the power increase, while for the case of power decrease they should be changed with the power variation to keep the system stability.

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Comparative Study on Active Control Algorithms through Weighting Functions (가중함수에 따른 능동제어 알고리듬의 비교 연구)

  • Min, Kyung-Won;Kim, Jin-Koo;Kim, Sung-Choon;Chung, Lan
    • Journal of the Computational Structural Engineering Institute of Korea
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    • v.14 no.2
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    • pp.173-179
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    • 2001
  • 성능지수는 제어 대상이 되는 구조물의 응답과 제어기의 성능에 관한 가중함수로 구성되어 있다. 따라서 가중함수의 설계에 따라 성능지수가 변화되며 제어 효율이 달라진다. 본 논문에서는 최적 능동제어 알고리듬의 일종인 시간 영역에서의 성능지수를 고려한 LQR기법과 LQG기법 및 주파수 영역에서의 성능지수를 고려한 H₂기법에 대하여 동일한 가중함수를 적용하여 제어 성능인 제어율과 제어력을 비교하는데 목적을 두고 있다. 그러나, LQG기법은 모든 상태 변수를 알아야 하는 LQR기법의 한계를 극복할 수 있으며 LQR기법과 동일 수준의 제어율과 제어력을 보이고 있고 출력 제어라는 장점을 고려하면 현실적인 기법이라고 말할 수 있다. 마지막으로 구조물 응답과 제어기의 주파수 특성을 고려하여 주파수 필터의 가중함수를 설계하는 H₂기법을 분석하였다. H₂기법은 제어력을 저주파수 영역에 집중시킬 수 있기 때문에 구조물 응답을 효과적으로 제어할 수 있는 방법으로 분석되었다.

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