• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.529-533
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• 1990

This paper treats the computational time delay issue in designing digital control systems. The computational time delay margin, within which the closed-loop stability is guaranteed, is analyzed using Rouche theorem. A PID control algorithm is proposed for compensating the computational time delay. Finally, the analyzed and the exact computational time delay margins are compared, and the performance of the proposed PID controller is shown through an illustrative example.

• Journal of Power Electronics
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• v.12 no.5
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• pp.715-722
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• 2012

New discrete time domain models for the peak current controlled (PCC) power LED drivers in continuous conduction mode include for the first time the effects of the time delay in the pulse-width-modulator. Realistic amounts of time delay are found to have significant effects on the average output LED current and on the critical inductor value at the boundary between the two conduction modes. Especially, the time delay can provide an accurate LED current for the PCC buck converter with a wide input voltage. The models can also predict the critical inductor value at the mode boundary as functions of the input voltage and the time delay. The overshoot of the peak inductor current due to the time delay results in the increase of the average output current and the reduction of the critical inductor value at the mode boundary in all converters. Experimental results are presented for the PCC buck LED driver with constant-frequency controller.

• Journal of Power Electronics
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• v.16 no.5
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• pp.1833-1842
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• 2016

In grid-connected converter control, grid voltage feedforward is usually introduced to suppress the influence of grid voltage distortion on the converter's grid-side AC current. However, owing to the time-delay in control systems, the suppression effect of the grid voltage distortion is seriously affected. In this paper, the positive effects of the grid voltage feedforward control are analyzed in detail, and the time-delay caused by the low-pass filter (LPF) in the voltage filtering circuits and digital control are summarized. In order to reduce the time-delay effect on the performance of the feedforward control, a voltage feedforward control strategy with time-delay compensation is proposed, in which, a leading correction of the feedforward voltage is used. The optimal leading step used in this strategy is derived from analyzing the phase-frequency characteristics of a LPF and the implementation of digital control. By using the optimal leading step, the delay in the feedforward path can be further counteracted so that the performance of the feedforward control in terms of suppressing the influence of grid voltage distortion on the converter output current can be improved. The validity of the proposed method is verified through simulation and experiment results.

• Structural Engineering and Mechanics
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• v.82 no.4
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• pp.445-458
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• 2022

Some of the control systems used in engineering structures that use sensors and decision systems have some time delay reducing efficiency of the control system or even might make it unstable. In this research, in addition to considering the effect of the time delay in vibration control process, predictive control is used to compensate the time delay. A semi-active vibration control approach with the help of magneto-rheological dampers is implemented. In addition to using fuzzy inference system to determine the appropriate control voltage for MR damper, structural behavior prediction system and specifying future responses are also used such that the time delays occurring within control process are overcome. For this purpose, determination of prediction horizon is conducted for one, five, and ten steps ahead for single degree of freedom structures with periods ranging from 0.1 to 4 seconds, subjected to twenty earthquake excitations. The amount of time delay applied to the control system is 0.1 seconds. The obtained results indicate that for 0.1 second time delay, average prediction error values compared to the case without time delay is 3.47 percent. Having 0.1 second time delay in a semi-active control system reduces its efficiency by 11.46 percent; while after providing the control system with structure behavior prediction, the difference in the results for the control system without time delay is just 1.35 percent on average; indicating a 10.11 percent performance improvement for the control system.

• Structural Engineering and Mechanics
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• v.58 no.6
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• pp.1127-1143
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• 2016

The pounding phenomenon in adjacent structures happens in severing earthquakes that can cause great damages. Connecting neighboring structures with active and semi-active control devices is an effective method to avoid mutual colliding between neighboring buildings. One of the most important issues in control systems is applying online control force. There will be a time delay if the prose of producing control force does not perform on time. This paper proposed a time-delay compensation method in coupled structures control, with semi-active Magnetorheological (MR) damper. This method based on Newmark's integration is adopted to mitigate the time-delay effect. In this study, Lyapunov's direct approach is employed to compute demanded voltage for MR dampers. Using Lyapunov's direct algorithm guarantees the system stability to design a controller based on feedback. Because of the strong nonlinearity of MR dampers, the equation of motion of coupled structures becomes an involved equation, and it is impossible to solve it with the common time step methods. In present paper modified Newmark-Beta integration based on the instantaneous optimal control algorithm, used to solve the involved equation. In this method, the response of a coupled system estimated base on optimal control force. Two MDOF structures with different degrees of freedom are finally considered as a numeric example. The numerical results show, the Newmark compensation is an efficient method to decrease the negative effect of time delay in coupled systems; furthermore, instantaneous optimal control algorithm can estimate the response of structures suitable.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.4
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• pp.274-284
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• 2000

In this paper, the design methodology of digital fuzzy controller(DFC) for the systems with time-delay is presented and the qualitative effects of the quantizers in digital implementation of a fuzzy controllers are investigated. We propose the fuzzy feed-back controller whose output is delayed with unit sampling period and period and predicted. the analysis and the design problem considering time-delay become very easy because the proposed controller is syncronized with the sampling time. The stabilization problem of the digital fuzzy system with time-delay is solved by linear matrix inequality(LMI) theory. Furthermore, we analyze the stability of the quantized fuzzy system. Our results prove that when quantization os taken into account, one only has convergence to some small neighborhood about origin. We develop a fuzzy control system for backing up a computer-simulated truck-trailer with the consideration of time-delay and quantization effect. By using the proposed method, we analyze the quantization effect to the system and design a DFC which guarantees the stability of the control system in the presence of time-delay.

• The Bulletin of The Korean Astronomical Society
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• v.40 no.1
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• pp.82.1-82.1
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• 2015

We investigate the long-term spatial drift of the center and the temporal variation of the shutter delay time map of Y4KCam mounted on the CTIO 1.0m telescope. We have collected shutter delay time maps for over 7 years as a part of long-term survey program. We find that the center of the shutter delay time map can drift up to $450{\mu}m$ on the CCD. This effect can result in a small amount of error unless the proper shutter delay time correction, but it does not appear to cause any significant problems in photometric measurements. We obtain the mean value of the shutter delay time of $69.1{\pm}0.9$ msec and find no temporal variation of the shutter delay time of Y4KCam for over 7 years, indicative of the mechanical stability of the shutter. We suggest that using a master shutter delay time correction frame would be sufficient to achieve high precision photometry and this does not add up errors more than ~ 2.5 mmag across the CCD frame with exposure times longer than 1 sec.

• Structural Engineering and Mechanics
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• v.40 no.3
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• pp.431-451
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• 2011

Time delay inevitably exists in active control systems, and it may cause the degradation of control efficiency or instability of the systems. So time delay needs to be compensated in control design in order to eliminate its negative effect on control efficiency. Today time delay in linear systems has been more studied and some treating methods had been worked out. However, there are few treating methods for time delay in nonlinear systems. In this paper, an active controller for a nonlinear and hysteretic building structure with time delay is studied. The nonlinear and hysteretic behavior of the system is illustrated by the Bouc-Wen model. By specific transformation and augmentation of state parameters, the motion equation of the system with explicit time delay is transformed into the standard state space representation without any explicit time delay. Then the fourth-order Runge-Kutta method and instantaneous optimal control method are applied to the controller design with time delay. Finally, numerical simulations and comparisons of an eight-story building using the proposed time-delay controller are carried out. Simulation results indicate that the control performance will deteriorate if time delay is not taken into account in the control design. The simulations also prove the proposed time delay controller in this paper can not only effectively compensate time delay to get better control effectiveness, but also work well with both small and large time delay problems.

• Tunnel and Underground Space
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• v.6 no.3
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• pp.267-273
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• 1996

The types of eletric detonators manufactured in korea include instantaneous, decisecond and millisecond delays but number of delay intervals are only limited from No. 1 to No. 20 respectively. It is not sufficient to control accurately millisecond time with these detonators in large surface blasting. But nonelectric system detonators with an unlimited delay time are recently obtained. In this paper the effect of delay time of nonelectric detonator on the level of vibration in surface blasting was studied. A total of 169 data were recorded in the studied area. Blast point-to-measuring point distances ranged from 25 to 100 meter, where charge weight was 1.26 kg per delay.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.1
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• pp.185-201
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• 2023

Grant-free random access (GFRA) can reduce the access delay and signaling cost, and satisfy the short transmission packet and strict delay constraints requirement in internet of things (IoT). IoT is a major trend in the future, which is characterized by the variety of applications and devices. However, most existing studies on GFRA only consider a single type of device and omit the effect of access delay. In this paper, we study GFRA in multicell massive multipleinput multiple-output (MIMO) systems where different types of devices with various configurations and requirements co-exist. By introducing the backoff mechanism, each device is randomly activated according to the backoff parameter, and active devices randomly select an orthogonal pilot sequence from a predefined pilot pool. An analytical approximation of the average spectral efficiency for each type of device is derived. Based on it, we obtain the optimal backoff parameter for each type of devices under their delay constraints. It is found that the optimal backoff parameters are closely related to the device number and delay constraint. In general, devices that have larger quantity should have more backoff time before they are allowed to access. However, as the delay constraint become stricter, the required backoff time reduces gradually, and the device with larger quantity may have less backoff time than that with smaller quantity when its delay constraint is extremely strict. When the pilot length is short, the effect of delay constraints mentioned above works more obviously.