• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1045-1049
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• 1996

For the precision positioning and tracking control, the proper friction compensation is essential. The friction causes steady state error. The friction compensation based on the velocity and the controlling input or the desired velocity provides limited performance if the compensation value is fixed. In this paper, a friction compensation scheme using a fuzzy logic is proposed. The friction compensation amount is adjusted depending on the velocity and controlling input. The proposed fuzzy friction compensator with a pole-assignment controller is implemented in a linear positioning system. To illustrate the effectiveness of this scheme, computer simulations and experiments are carried out for the cases of no friction compensation, the proposed fuzzy friction compensation, and another friction compensation scheme based on velocity and control input, and the results are compared with each other.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.283-283
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• 2000

In this paper, we deals with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry crane's characteristics, the system is decentralized into two subsystems such as the travelling and sway subsystem, and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using observability canonical form. The decentralized subsystems include unknown input which coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques and those estimated values are used to construct an input compensation form. Lastly, the proposed decentralized control scheme far the gantry crane systems is verified by crane simulation.

• Journal of Power Electronics
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• v.19 no.6
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• pp.1380-1392
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• 2019

Input filters are very important to matrix converters (MCs). They are used to improve grid side current waveform quality and to reduce the input voltage distortion supplied to the grid side. Due to the effects of the input filter and the output power, the grid side power factor (PF) is not at unity when the input power factor angle is zero. In this paper, the displacement angle between the grid side phase current and the phase voltage affected by the input filter parameters and output power is analyzed. Based on this, a new grid side PF unity compensation method implemented in the indirect space vector pulse width modulation (ISVPWM) method is presented, which has a larger compensation angle than the traditional compensation method, showing a higher grid side PF at unity in a wide output power range. Simulation and experimental results verify that the analysis of the displacement angle between the grid side phase current and the phase voltage affected by the input filter and output power is right and that the proposed compensation method has a better grid side PF at unity.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.4
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• pp.281-287
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• 2001

In this paper, we deal with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry cranes characteristics, the system is decentralized into two subsystems, the travelling and swaying subsystem and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using the observability canonical form. The decentralized subsystems include unknown inputs that one coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques. And those estimated values are used to construct an input compensation form. Finally, the proposed decentralized control scheme for the gantry crane systems is verified by crane simulation.

• Journal of Power Electronics
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• v.19 no.1
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• pp.89-98
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• 2019

This paper analyzes the input side performance of a conventional three-phase to single-phase matrix converter (3-1MC). It also presents the input-side waveform quality under this topology. The suppression of low-frequency input current harmonics is studied using the 3-1MC plus capacitance compensation unit. The constraint between the modulation function of the output and compensation sides is analyzed, and the relations among the voltage utilization ratio and the output compensation capacitance, filter capacitors and other system parameters are deduced. For a 3-1MC without large-capacity energy storage, the system performance is susceptible to input voltage imbalance. This paper decouples the inner current of the 3-1MC using a Lyapunov function in the input positive and negative sequence bi-coordinate axes. Meanwhile, the outer loop adopts a voltage-weighted synthesis of the output and compensation sides as a cascade of control objects. Experiments show that this strategy suppresses the low-frequency input current harmonics caused by input voltage imbalance, and ensures that the system maintains good static and dynamic performances under input-unbalanced conditions. At the same time, the parameter selection and debugging methods are simple.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.3
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• pp.195-198
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• 2002

In this note, we suggest a new matching condition and extend the stability analysis to the ultimate boundness of state $\chi$(t) for uncertain input-delay systems, using a sliding control with delay compensation.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.826-832
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• 2016

A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.

• Journal of Aerospace System Engineering
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• v.10 no.1
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• pp.86-94
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• 2016

In this paper, position control of focal plane compensation device using piezoelectric actuator is conducted. The forcal plane compensation device installed on earth observation satellite camera compensates micro-vibration from reaction wheels. In this study, four experimental models of the open-loop compensation device are derived using MATLAB system identification toolbox in the input range of 0~50Hz. Subsequently, the PID controller for each model is designed and the performance test of each controller is conducted through MATLAB/Simulink. According to frequency response analysis of the closed-loop compensation device system, the PID controller designed for 38~50Hz input range has enough tracking performance for the whole 0~50Hz input range. The maximum output error is about $1{\mu}m$ for the input range. The simulation results has been verified by the experimental method.

• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.531-534
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• 1989

In this paper, the way that input voltage and input line current as a control variable is provided as one unit is projected. Till no, have denied with three phase balanced load. But, in that case, total power factor compensation is difficult, for to control each phase at unbalanced load. Therefor, in this paper suggest of the scheme that three phase unbalanced load is controlled by each phase and input total power factor is compensated unit input factor. therefore, in this paper suggest that three phase unbalanced load is controlled and the method in compensation of unit input factor to be attended by unbalanced load. Besides, the object of control is calculating quantity for input voltage and input line current for the point at issuse make to improve of control method at unbalanced load. As a result, control system of each phase could maintain as a unit input total power factor has been state diviation error of 2% with unbalanced load.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.1
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• pp.126-136
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• 1992

In this paper, a simple structured feedback compensation scheme for a electro-hydraulic servo system to keep the response characteristics unchanged regardless of the load variation is proposed. In electro-hydraulic servo system, servovalve is most important control element. But the relation between input corrent and output flowrate of the servovalve has properties as follows; firstly, in spite of constant input current, output flowrate decreases as load pressure increases, secondly, according to frequency response of typical servovalve, the characteristics of gain and phase shift is something like 2'nd order system. Load pressure feedback compensation method has been applied to eliminate the first influence, the second influence has been improved by phase lead compensation method. As a result of above compensation methods, regardless of variation load condition, spring and inertia load, the compensation scheme has been verified to be effective within the range of frequency less than 25Hz by static response and dynamic response in time domain and frequency domain through experiments.