• Nuclear Engineering and Technology
• /
• v.53 no.11
• /
• pp.3685-3693
• /
• 2021

This paper presents a disturbance observer-based robust backstepping load-following control (DO-RBLFC) scheme for modular high-temperature gas-cooled reactors (MHTGRs) in the presence of actuator saturation and disturbances. Based on reactor kinetics and temperature reactivity feedback, the mathematical model of the MHTGR is first established. After that, a DO is constructed to estimate the unknown compound disturbances including model uncertainties, external disturbances, and unmeasured states. Besides, the actuator saturation is compensated by employing an auxiliary function in this paper. With the help of the DO, a robust load-following controller is developed via the backstepping technique to improve the load-following performance of the MHTGR subject to disturbances. At last, simulation and comparison results verify that the proposed DO-RBLFC scheme offers higher load-following accuracy, better disturbances rejection capability, and lower control rod speed than a PID controller, a conventional backstepping controller, and a disturbance observer-based adaptive sliding mode controller.

• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.146-151
• /
• 2001

The Grand-Touring is a game motion simulator that simulates the race-car driving motion with three hydraulic cylinders which connect the platform and base in parallel. Its motion control system consists of the PC-based main controller and micro-controller based sub-controller. The former one process the dynamic image of race-car in response to the driver's action and computes the reference command for each cylinder and the latter one is designed for the tracking control of hydraulic cylinder and interfacing the auxiliary signals between various sensors/actuator and main controller. In this research, we developed the sub-controller that implements the required functions of Grand-Touring and prove the overall performance with experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2008.05a
• /
• pp.201-204
• /
• 2008

The mobile robot is known as a nonlinear system with constraints. The general tracking controller for the mobile platform has been divided into the kinematic and the dynamic controller. The reason of dividing controller is the constraints. We can get some information through some numerical experiments. When the reference linear and angular velocity were given, the stability of mobile robot without the kinematic controller depend on the start point of reference cart. Therefore this paper composed of two controller for solving tracking problem. The main controller is the dynamic controller which used generally such as the PID controller. And this paper adopts the auxiliary controller in order to compensate the difference of initial point between the reference cart and a mobile robot. Finally, the numerical experiment is performed in order to show the validity of our method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.3
• /
• pp.237-242
• /
• 2012

AFC (Adaptive Feedforward Control) is significantly employed for improving control performance of dynamic systems particularly involving periodic disturbance signals in engineering fields. This paper presents a novel hybrid AFC approach for discrete-time systems with multiple disturbances in terms of control input and state variables. The proposed AFC mechanism is hierarchically composed of a conventional feedforward control framework and PID auxiliary control configuration in parallel. The former is generic to decrease periodic disturbance excited to control actuators and the latter is additionally constructed to overcome control deterioration due to time-varying uncertainty under given systems. We carry out numerical simulation to test reliability of our proposed hybrid AFC system and compare its control performance to a well-known conventional AFC method with respect to time and frequency domains for proving of its superiority.

• Proceedings of the KSR Conference
• /
• 2008.11b
• /
• pp.518-523
• /
• 2008

Using network communication, KTX OBCS is KTX's core device which inspects operation status of various electric equipments and supports driving command, train control, train's maintenance, train crew's driving. Since this device is manufactured as specialized system, being dependent on TGV manufacture specification and France's high speed train operation method, actual technic transfer is difficult. Therefore, there are many difficulties, since most of interface signals are connected with OBCS when function improvement, maintenance, various electric equipments(propulsion control device, auxiliary power supply device, door control device etc.) are replaced with localized ones, which are required in operational view after introduction of KTX. Ergo, this study would like to contribute to function improvement and maintenance's efficiency, furthermore to realize technical independence, escaping from dependency of developed foreign technology in high speed train and electric equipments, through KTX OBCS' function analysis and mutual interface information analysis with peripheral device(driver console, PID system, fault display device, various electric equipments).