• Title/Summary/Keyword: feedback control scheme

Search Result 672, Processing Time 0.025 seconds

A Global Regulation Method of Nonlinear Systems with Unbounded Parameters Under State Feedback Frame (비억제 파라미터를 갖는 비선형 시스템의 전역 안정화)

  • Koo, Min-Sung;Choi, Ho-Lim
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.22 no.3
    • /
    • pp.171-176
    • /
    • 2016
  • In this paper, we consider a regulation problem of nonlinear systems under two triangular conditions where there possibly exist unbounded parameters in the systems. We propose a state feedback controller with dynamic gains in order to deal with unbounded parameters based on the condition of the time-varying rate of the growing parameter. The analysis of our control scheme is carried out by Lyapunov stability method. Our control method is verified by simulation results.

Output feedback left eigenstructure assignment considering controllability and disturbance suppressibility measures (가제어성 및 외란 가억제성 척도를 고려하는 출력되먹임 고유구조 지정)

  • Choi, Jae-Weon;Lee, Jang-Gyu;Kim, You-Dan;Gang, Tae-Sam
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.1 no.2
    • /
    • pp.71-77
    • /
    • 1995
  • The control effectiveness and disturbance suppressibility are mainly governed by a left eigenstructure of a system. In this paper, a control algorithm which uses an output feedback eigenstructure assignment scheme is proposed in order that a desired closed-loop system has the specified degree of controllability and/or degree of disturbance suppressibility. To do this, a modal and a gross disturbance suppressibility measures are proposed. A modified version of Hamdan and Nayfeh's modal controllability measure is also presented. The validity and usefulness of the proposed measures and the controller design algorithm are illustrated by designing a controller for a third-order system as an example.

  • PDF

Multiple Simultaneous Specification Control of a High Speed Positioning System Driven by a Brushless D.C. Motor (브러시레스 직류 모터로 구동되는 고속 작동기의 다중 동시 사양 제어)

  • Kang Bong-Soo;Kim Soo-Hyun;Kwak Yoon-Keun
    • Transactions of the Korean Society of Mechanical Engineers A
    • /
    • v.28 no.8 s.227
    • /
    • pp.1093-1098
    • /
    • 2004
  • This paper presents a close-loop feedback control scheme, which can simultaneously satisfy multiple conflicting control performances, for a high speed positioning system driven by a brushless D.C. motor. With the dynamic model of the motor and proportional-plus-derivative feedback controllers selected as sample controllers, the convex combined feedback controller is formulated for implementing a direct-drive manipulator. Experimental results show that the developed multiple simultaneous specification(MSS) controller can meet desired control performances; maximum overshoot and rise time.

Multivariable State Feedback Control for Three-Phase Power Conversion systems (3상 전력변환 시스템을 위한 다변수 상태궤환 제어)

  • 이동춘;이지명
    • The Transactions of the Korean Institute of Power Electronics
    • /
    • v.2 no.1
    • /
    • pp.1-11
    • /
    • 1997
  • In this paper, a novel multivariable state feedback control with feedforward control is proposed to improve control performance of power conversion systems. The targets of the application are three-phase voltage-source PWM converter and inverter system, and current-source PWM converter and inverter system, of which equivalent circuits and models are derived and analyzed. Various simulation results are presented to verify the validity of the proposed scheme.

  • PDF

Implementation of Auto-tuning Positive Position Feedback Controller Using DSP Chip and Microcontroller (디지털신호처리 칩과 마이크로 컨트롤러를 이용한 자동 조정 양변위 되먹임 제어기의 구현)

  • Kwak, Moon K.;Kim, Ki-Young;Bang, Se-Yoon
    • Transactions of the Korean Society for Noise and Vibration Engineering
    • /
    • v.15 no.8 s.101
    • /
    • pp.954-961
    • /
    • 2005
  • This paper is concerned with the implementation of auto-tuning positive position feedback controller using a digital signal processor and microcontroller. The main advantage of the positive position feedback controller is that it can control a natural mode of interest by tuning the filter frequency of the positive position feedback controller to the natural frequency of the target mode. However, the positive position feedback controller loses its advantage when mistuned. In this paper, the fast fourier transform algorithm is implemented on the microcontroller whereas the positive position feedback controller is implemented on the digital signal processor. After calculating the frequency which affects the vibrations of structure most, the result is transferred to the digital signal processor. The digital signal processor updates the information on the frequency to be controlled so that it can cope with both internal and external changes. The proposed scheme was installed and tested using a beam equipped with piezoceramic sensor and actuator. The experimental results show that the auto-tuning positive position feedback controller proposed in this paper can suppress vibrations even when the target structure undergoes structural change thus validating the approach.

Implementation of Adaptive Positive Popsition Feedback Controller Using DSP chip and Microcontroller (디지털신호처리 칩과 마이크로 컨트롤러를 이용한 적응 양변위 되먹임 제어기의 구현)

  • Kwak, Moon-K.;Kim, Ki-Young;Bang, Se-Yoon
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
    • /
    • 2005.05a
    • /
    • pp.498-503
    • /
    • 2005
  • This paper is concerned with the implementation of adaptive positive position feedback controller using a digital signal processor and microcontroller The main advantage of the positive position feedback controller is that it can control a natural mode of interest by tuning the filter frequency of the positive position feedback controller to the natural frequency of the target mode. However, the positive position feedback controller loses its advantage when mistuned. In this paper, the fast fourier transform algorithm is implemented on the microcontroller whereas the positive position feedback controller is implemented on the digital signal processor. After calculating the frequency which affects the vibrations of structure most the result is transferred to the digital signal processor. The digital signal processor updates the information on the frequency to be controlled so that it can cope with both internal and external changes. The proposed scheme was installed and tested using a beam equipped with piezoceramic sensor and actuator. The experimental results show that the adaptive positive position feedback controller proposed in this paper can suppress vibrations even when the target structure undergoes structural change thus validating the approach.

  • PDF

Direct Stator Flux Vector Control Strategy for IPMSM using a Full-order State Observer

  • Yuan, Qingwei;Zeng, Zhiyong;Zhao, Rongxiang
    • Journal of Electrical Engineering and Technology
    • /
    • v.12 no.1
    • /
    • pp.236-248
    • /
    • 2017
  • A direct stator flux vector control scheme in discrete-time domain is proposed in this paper for the interior permanent magnet synchronous motor (IPMSM) drive to remove the proportional-integral (PI) controller from the direct torque control (DTC) scheme applied to IPMSM and to obtain faster dynamic response and lower torque ripple output. The output of speed outer loop is used as the desired torque angle instead of the desired torque in the proposed scheme. The desired stator flux vector in dq coordinate is calculated with a given amplitude. The state-space equations in discrete-time for IPMSM are established, the actual stator flux vector is estimated in deadbeat manner by a full-order state observer, and then the closed-loop control is achieved by the pole placement. The stator flux error vector is utilized to calculate the reference stator voltage vector. Extracting the angle position and amplitude from the estimated stator flux vector and estimating the output torque are eliminated for the direct feedback control of the stator flux vector. The proposed scheme is comparatively investigated with a PI-SVM DTC scheme by experiment results. Experimental results show the feasibility and advantages of the proposed control scheme.

Supervisory Control of Multi-Echelon Production-Distribution Systems with Limited Decision Policy (I)-Control Algorithm-

  • Jeong, Sang-Hwa;Kim, Jong-Kwan;Oh, Yong-Hun;Ryu, Sin-Ho
    • Journal of Mechanical Science and Technology
    • /
    • v.14 no.4
    • /
    • pp.369-379
    • /
    • 2000
  • In industrial production-distribution systems, production and purchasing rates, associated inventories, and sales are very critical for the profits of each component in the system. The objective of this study is to investigate an effective information control scheme for a production -distribution system by automatic feedback control techniques. In this work, a dynamic control scheme that has an integrated -error with state-feedback and filtering (ISFF) is proposed as a new algorithm for a dynamic controller. Generalized formulations of the dynamic control are proposed in the continuous-time and discrete-time cases. A methodology for an evaluation of ISFF controller gains using the eigen structure property is presented. When an upper-limit is imposed on the production capability by available factory space and capital equipment, supervisory control is provided to avoid integrator-windup and deterioration of system performance.

  • PDF

A Robust Adaptive Control of Robot Manipulator Based on TMS320C80

  • Han, Sung-Hyun;Jung, Dong-Yean;Shin, Heang-Bong
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2003.10a
    • /
    • pp.2540-2545
    • /
    • 2003
  • We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

  • PDF

A Study Compensation Method for Dynamic Characteristics in Electro-Hydraulic Servosystem Equipping Load Pressure Feedback Compensator (부하압력 피이드백 보상기를 장착한 전기-유압서보계의 동특성 개선에 관한 연구)

  • Kim, Jong-Kyum
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.9 no.1
    • /
    • pp.126-136
    • /
    • 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.

  • PDF