• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.7
• /
• pp.619-624
• /
• 2011

This paper presents a controller design method for a robust control problem with multiple constraints using genetic algorithms and LMI design method. A robust $H_{\infty}$ constraint with loop shaping and pole placement is used to address disturbance attenuation with error limits and desired transient specifications, in spite of the plant uncertainties and disturbances. In addition, a loop gain constraint is considered so as not to enlarge the loop gain unnecessarily. The robust $H_{\infty}$ constraint and pole placement constraint can be expressed in terms of two matrix inequalities and the loop gain constraint can be considered as an objective function so that genetic algorithms can be applied. Accordingly, a robust controller can be obtained by integrating genetic algorithms with LMI approach. The proposed controller design method is applied to a track-following system of an optical disk drive and is evaluated through simulation results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.4
• /
• pp.308-313
• /
• 2012

Robust tuning rules of the motion profile are proposed to minimize the residual vibration. For asymmetric S-curve profile, tuning rules are analytically formulated using Laplace-domain approach. When the system modeling is known exactly, by placing a single zero of the motion profile on the pole of the system, the residual vibration can be perfectly eliminated under undamped system. However, if there are some amounts of the modeling errors, the residual vibration significantly increases. To track this issue, the robust tuning rules against modeling error are discussed. One of the proposed robust tuning rules is placing the multiple zeros of the motion profile on the pole of the system, and the other is placing the zeros of the motion profile around the pole of the system. Thanks to the proposed robust tuning rules, motion profile becomes more robust to modeling errors while minimizing the residual vibration. By simulation, the effectiveness of the proposed robust tuning rules is verified.

• Journal of Power Electronics
• /
• v.16 no.3
• /
• pp.1087-1096
• /
• 2016

This paper reports an investigation conducted on two diagnostic methods based on the switching voltage pattern of IGBT open-circuit faults in voltage-source inverters (VSIs). One method was based on the bridge arm pole voltage, and the other was based on bridge arm line voltage. With an additional simple circuit, these two diagnostic methods detected and effectively identified single and multiple open-circuit faults of inverter IGBTs. A comparison of the times for the diagnosis and anti-interference features between these two methods is presented. The diagnostic time of both methods was less than 280ns in the best case. The diagnostic time for the method based on the bridge arm pole voltage was less than that of the method based on the bridge arm line voltage and was 1/2 of the fundamental period in the worst case. An experimental study was carried out to show the effectiveness of and the differences between these two methods.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.201-204
• /
• 1998

This paper presents a new construction method of candidate controllers using Multi-modal Neural Network(MNN). To improve a control performance of multiple controller, we construct, candidate controllers which consist of MNN. MNN can learn more complicated function than multilayer neural network. MNN consists of preprocessing module and neural network module. The preprocessing module transforms input signals into spectra which are used as input of the following neural network module. We apply the proposed method to multiple control system which controls the cart-pole balancing system and show the effectiveness of the proposed method.

• Journal of Electrical Engineering and Technology
• /
• v.11 no.6
• /
• pp.1628-1633
• /
• 2016

This paper derives an effective shape of the ferromagnetic pole pieces (low-speed rotor) for the reduction of transmission torque ripple in a magnetic-geared machine based on a Box-Behnken design (BBD). In particular, using a non-linear finite element method (FEM) based on 2-D numerical analysis, we conduct a numerical investigation and analysis between independent variables (selected by the BBD) and reaction variables. In addition, we derive a regression equation for reaction variables according to the independent variables by using multiple regression analysis and analysis of variance (ANOVA). We assess the validity of the optimized design by comparing characteristics of the optimized model derived from a response surface analysis and an initial model.

• Proceedings of the KSME Conference
• /
• 2004.04a
• /
• pp.828-833
• /
• 2004

The performance of a mixed $H_{\infty}/H_2$ design with pole placement constraints based on robust vibration control for a piezo/beam system is investigated. The governing equation of motion for the piezo/beam system is derived by Hamilton's principle. The assumed mode method is used to discretize the governing equation into a set of ordinary differential equation. A robust controller is designed by $H_{\infty}/H_2$ feedback control law that satisfies additional constraints on the closed-loop pole location in the face of model uncertainties, which are derived for a general class of convex regions of the complex plane. These constraints are expressed in terms of linear matrix inequalities (LMIs) approach for the multiobjective synthesis. The validity and applicability of this approach for vibration suppressions of SMART structural systems are discussed by damping out the multiple vibrational modes of the piezo/beam system.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.8
• /
• pp.1997-2004
• /
• 1994

A model analysis method has been developed in the paper. The method estimates the modal parameters of multiple input-output systems, assesses their quality, and seperates structural modes form computation ones. The modal parameter extraction algorithm is the least squares method with a finite difference model relating input and output time data. The quality of the estimated system model can be assessed in narrow frequency bands by comparing the measured and model predicted responses in time domain with the aid of digital filters. Structural modes can be effectively separated from computational ones using the convergence factor which represents the pole convergence rate. The modal analysis method has been applied to simulated and experimental vibration data to evaluate its utility and limitations.

• The Journal of Korea Robotics Society
• /
• v.4 no.3
• /
• pp.218-224
• /
• 2009

We propose a formation-keeping and changing methods for outdoor multiple mobile robots in chained form. Our proposed method is designed to maintain the follower to its desired distance and orientation with respect to the pole using the concept of virtual force such as potential field. The client robots use a behavior-based control to perform kinematic control to keep formation under the centralized system in our software framework. The relationship of each poles that is expressed by set of distance and angle is the description of the formation type and the type converting is performed using this set. In addition, we also examine the stability and capability in the simulation and experiments with real robots.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10a
• /
• pp.817-826
• /
• 1987

An offset-free self-tuning control with pole placement (STCPP) and a recursive parameter estimation with multiple and variable forgetting factors (REWF), together with their application to a real plant, are described. There are two different types of offset-free STCPP; their features are analysed and discussed. REMVF employs as many forgetting factors as parameter estimates. It is suitable when parameters to be estimated are changing at different rates. The offset-free STCPP and REMVF have been successfully applied to a real plant, giving excellent results.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.21 no.1
• /
• pp.277-283
• /
• 2020

In a concentric magnetic gear, which replaces the teeth of a mechanical gear with a permanent magnet, the polar ratio of the magnet that determines the reduction ratio affects the behavior of the magnetic gear dramatically. This study analyzed the density of transmission torque, the efficiency of torque considering the solid loss, and the torque quality, including the cogging characteristics using finite element analysis. When the pole number on the driving side was changed from two to five, it was confirmed that there was an optimal pole ratio, in which the transmission torque was maximized. Because eddy current generation density is proportional to the magnetic field, the transmission efficiency also shows a similar tendency to the transmission torque density, and the efficiency is more than 95% at a low gear ratio. The cogging characteristics due to the interaction of the permanent magnets with the limited number of poles are inversely proportional to the least common multiple between the number of magnets on the drive side and the number of modulator teeth. A test model was built for the transmission torque evaluation.