• Journal of Mechanical Science and Technology
• /
• 제16권12호
• /
• pp.1643-1651
• /
• 2002

Magnetic levitation systems are required to have a large operating range in many applications. As one method to solve this problem, Time Delay Control (TDC) is applied to a single-axis magnetic levitation system in this paper A reduced-order observer is utilized to estimate states excluding measurable states in the control law. The system consists of a square air-core solenoid and a circular permanent magnet attached on a plastic ball. Theoretical magnetic forces of the system are obtained on the basis of the location of the magnet around the solenoid. The magnetic levitation force is obtained by the experiment, and then compared with the theoretical one. As the results of the control experiments, the nonlinear controller (TDC : 1-2 ㎜) has a larger operating range than the linear controller (PD control : 1-1.4 ㎜), and is superior to linear. control in the robustness to the modeling uncertainty and the performance of the disturbance rejection.

• 대한기계학회논문집A
• /
• 제28권12호
• /
• pp.1823-1832
• /
• 2004

In this paper, we proposed a TDC based F/T sensorless active compliance control algorithm for a rehabilitation robot (KARES II). The preference of compliance of the disabled is presented by clinical testing at Korea National Rehabilitation Center with the disabled. The KARES II was designed to work 12 predefined tasks which are very essential for helping the disabled. Among the tasks, some contact tasks between the robot and the disabled exist. Therefore, TDC based F/T sensorless compliance control algorithm is developed for these tasks without additional cost. We verified the proposed algorithm with experiment. Also for the practical use, suitable compliance for contact tasks is chosen by clinical testing at Korea National Rehabilitation Center.

• Smart Structures and Systems
• /
• 제15권3호
• /
• pp.863-879
• /
• 2015

This paper experimentally investigates the effectiveness and applicability of the time delay control (TDC) algorithm, which is simple and robust to unknown system dynamics and disturbance, for an active mass damper (AMD) system to mitigate the excessive vibration of a building structure. To this end, the theoretical background including the mathematical formulation of the control system is first described; and then, a thorough experimental study using a shaking table system with a small-scale three-story building structural model is conducted. In the experimental tests, the performance of the proposed control system is examined by comparing its structural responses with those of the uncontrolled system in the free vibration and forced vibration cases. It is clearly verified from the test results that the TDC algorithm embedded AMD system can effectively reduce the structural response of the building structure.

• 한국자동차공학회논문집
• /
• 제1권1호
• /
• pp.1-13
• /
• 1993

The three-dimensional numerical analysis for in-cylinder flow of four-valve engine without intake port has been successfully computed. These computations have been performed using technique of the general coordinate transformation based on the finite-volume method and body-fitted non-orthogenal grids using staggered control volume and covariant variable as dependent one. Computations are started at intake valve opening and are carried through top-dead-center of compression. A k-$\varepsilon$model is used to represent turbulent transport of momentum. The principal study is the evolution of interaction between mean flow and turbulence and of the role of swirl and tumble in generating near TDC turbulence. Results for three different inlet flow configuration are presented. From these results, complex flow pattern may be effective for promoting combustion in spark-ignition engines and kinetic energy of mean flow near TDC is well converted into turbulent kinetic energy.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2007년도 춘계학술대회A
• /
• pp.1219-1224
• /
• 2007

This is Presents experimental results of a force tracking controller for a quarter-car suspension system. The active suspension system was decomposed into two loops. At the main loop, the desired force signal is calculate by using a standard LQ design process. The Time Delay Control(TDC) design technique is then used to design the force controller such that the desired force signal is achieved in a robust manner when actuator or other plant uncertainties are present. The ADAMS controls module was used to realize the joint simulation of ADAMS and MATLAB, of which the results showed that the TDC strategy is reasonable and feasible.

• 대한기계학회논문집A
• /
• 제26권8호
• /
• pp.1534-1544
• /
• 2002

The TDCSA(Time Delay Control with Switching Action) method, which consists of Time Delay Control(TDC) and a switching action of sliding mode control(SMC), has been proposed as a promising technique in the robust control area, where the plant has unknown dynamics with parameter variations and substantial disturbances are preset. When TDCSA is applied to the plant with saturation nonlinearity, however, the so-called windup phenomena are observed to arise, causing excessive overshoot and instability. The integral element of TDCSA and the saturation element of a plant cause the windup phenomena. There are two integral effects in TDCSA. One is the integral effect occurred by time delay estimation of TDC. Other is the integral term of an integral sliding surface. In order to solve this problem, we have proposed an anti-windup scheme method for TDCSA. The stability of the overall system has been proved for a class of nonlinear system. Experiment results show that the proposed method overcomes the windup problem of the TDCSA.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2005년도 추계학술대회논문집
• /
• pp.306-309
• /
• 2005

This parer describes the tracking control simulation of 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. For the Joint coordinate-based control which uses lengths of each actuator, the trajectory conversion process inverse kinematics is performed. Applying the Newton-Euler approach, the dynamic equation of the shaking table is derived. To cope with nonlinear problems, time-delay control(TDC) is considered, which has been noted for its exceptional robustness to parameter uncertainties and disturbance, in addition to steady-state accuracy and computational efficiency. If the nominal model is equal to the real system, joint coordinate-based control can be very efficient. However, manufacturing tolerances installation errors and link offsets contaminate the nominal values of the kinematic parameters used in the kinematic model of the shaking table. To compensate differences between the nominal model and the real system. the joint coordinate-based control using acceleration feedback in the Cartesian coordinate space is proposed.

• Journal of Computing Science and Engineering
• /
• 제10권4호
• /
• pp.111-117
• /
• 2016

An accurate approach for diagnosis of attention deficit hyperactivity disorder (ADHD) is presented in this paper. The presented technique efficiently classifies three subtypes of ADHD (ADHD-C, ADHD-H, ADHD-I) and typically developing control (TDC) by using only structural magnetic resonance imaging (MRI). The research examines structural MRI of the hippocampus from the ADHD-200 database. Each available MRI has been processed by a region-of-interest (ROI) to build a set of features for further analysis. The presented ADHD diagnostic approach unifies feature selection and classification techniques. The feature selection technique based on the proposed binary-coded genetic algorithm searches for an optimal subset of features extracted from the hippocampus. The classification technique uses a chosen optimal subset of features for accurate classification of three subtypes of ADHD and TDC. In this study, the famous Extreme Learning Machine is used as a classification technique. Experimental results clearly indicate that the presented BCGA-ELM (binary-coded genetic algorithm coupled with Extreme Learning Machine) efficiently classifies TDC and three subtypes of ADHD and outperforms existing techniques.

• Journal of Power Electronics
• /
• 제3권3호
• /
• pp.197-204
• /
• 2003

An improved 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 Using this model, to overcome the drawbacks of conventional nonlinear control scheme, the improved nonlinear control scheme which employs time delay control (TDC) scheme is proposed. To show the validity of the proposed control scheme, simulation studies are carried out and compared with the conventional control scheme.

• 한국정밀공학회지
• /
• 제17권12호
• /
• pp.176-184
• /
• 2000

TDC(Time Delay Control) deals with the time-varying system parameters, unknown dynamics and unexpected disturbances using time delay. TDC can be divided into two separate parts: an auxiliary controller and a servo controller. The two controllers can be designed independently. The auxiliary controller is used to reduce sensitivity to parameter variations, nonlinear effects, and other disturbances. The servo controller is to reduce the error between the desired command and output. We propose the model-following time delay controller with modified error feedback controller. This was applied to follow the desired reference model for the uncertain time-varying overhead crane. The model generates the damped-out swinging motion trajectory to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. The control performance was evaluated through simulations. The theoretical results indicate that this control method shows excellent performance to an overhead crane with the uncertain time-varying parameters.