• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.369-373
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• 1992

Force control of a planar two-link structurally flexible robotic manipulator is considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is pressented toobtain the linearized equations of motion in Cartesian space for use in designing the control system. The approachto solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulatro along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is explotied to design a robust feedback control system that can handle modeling errors and sensor noise, and operates on Cartesian space trajectory errors. The Lqg/LTR compenstaor together with a feedforward ollp is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• International Journal of Air-Conditioning and Refrigeration
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• 제15권2호
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• pp.61-69
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• 2007

This paper deals with fuzzy control with a feedforward compensator to progress both energy saving and coefficient of performance (COP) in a variable speed refrigeration system. Both the capacity and superheat are controlled simultaneously and independently in the system. By adopting the fuzzy theory, the controller design for the capacity and superheat is possible without depending on a dynamic model of the system. Moreover, the feedforward compensator of the superheat can reduce influence of the interfering loop between the capacity and superheat. Some experiments are conducted to design appropriate fuzzy controller by an iteration manner. The results show that the proposed fuzzy controller with the compensator can establish good control performances for the complicated refrigeration system in spite of its inherent strong non-linearity. Also, the fuzzy control performances were investigated by comparing to the model based PI control experimental results to evaluate transient behavior under the control.

• 한국전자파학회논문지
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• 제14권5호
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• pp.513-520
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• 2003

본 논문에서는 feedforward 구조와 DGS 마이크로스트립 전송선로를 이용한 새로운 2차 주파수 체배기를 제안하였다. Feedforward 구조는 기본 주파수 신호를 억압하는 역할을 하며, DGS 마이크로스트립 전송선로는 3차 이상의 고조파 신호들을 억압하는 데 사용된다. 제안된 2차 주파수 체배기는 불요파 신호들을 효과적으로 쉽게 억압 할 수 있다. 실험적으로 제안된 방법을 1.87 GHz 신호를 3.74 GHz 신호로 체배하는데 적용하였다. 3.74GHz(If))에서의 출력 전력이 -3 dBm일때, 기본 주파수 신호(1,)는 42.9 dB, 3차 고조파 신호(If,)는 20.2 dB, 4차 고조파 신호(4f))는 29.7 dB의 억압 특성을 얻었다. 100 MHz 대역폭에서 변환 손실은 -2.34 dB ~ -5.8dB 였고, 위상잡음 특성은 -97.51 dB/Hz(＠10 kHz)으로 나타났다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.147-150
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• 1996

This paper describes controller design and implementation method for controlling the temperature distribution in a thermal stratified wind tunnel(TSWT) by using a neural network algorithm. It is impossible to derive a mathematical model of the relation between heat inputs and temperature outputs in the test section of the TSWT governed by a nonlinear turbulent flow. Thus inverse neural network models with a multi layer perceptron structure are used in a feedforward control loop and feedback control loop to generate an arbitrary temperature distribution in the test section of the TSWT.

• Smart Structures and Systems
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• 제14권6호
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• pp.1081-1103
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• 2014

Real-time hybrid simulation (RTHS) has emerged as an important tool for testing large and complex structures with a focus on rate-dependent specimen behavior. Due to the real-time constraints, accurate dynamic control of servo-hydraulic actuators is required. These actuators are necessary to realize the desired displacements of the specimen, however they introduce unwanted dynamics into the RTHS loop. Model-based actuator control strategies are based on linearized models of the servo-hydraulic system, where the controller is taken as the model inverse to effectively cancel out the servo-hydraulic dynamics (i.e., model-based feedforward control). An accurate model of a servo-hydraulic system generally contains more poles than zeros, leading to an improper inverse (i.e., more zeros than poles). Rather than introduce additional poles to create a proper inverse controller, the higher order derivatives necessary for implementing the improper inverse can be calculated from available information. The backward-difference method is proposed as an alternative to discretize an improper continuous time model for use as a feedforward controller in RTHS. This method is flexible in that derivatives of any order can be explicitly calculated such that controllers can be developed for models of any order. Using model-based feedforward control with the backward-difference method, accurate actuator control and stable RTHS are demonstrated using a nine-story steel building model implemented with an MR damper.

• 한국전자파학회논문지
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• 제18권7호
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• pp.839-846
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• 2007

본 논문에서는 새로운 구조의 이중 대역 feedforward 선형 전력 증폭기(FFW LPA)의 설계 방법을 제안하였다. 현재까지 이중 대역 FFW LPA 설계의 기술적인 어려움은 단일 대역 FFW LPA에서 사용되는 신호 상쇄기를 이중 대역 동작으로 확장시키기가 쉽지 않았다는 점이다. 따라서 본 논문에서는 이중 대역 동일 군속도 지연 주 신호 상쇄기와 혼변조 왜곡 신호(Intermodulation Distortion: IMD) 상쇄기의 설계 방법, 그리고 이를 이용하여 단일 대역 FFW 기법을 확장한 이중 대역 FFW LPA의 설계 방법을 제안하였다. 제안하는 설계 방식의 효용성을 검증하기 위하여, 동작 대역의 중심 주파수를 기준으로 1.26 GHz 이격된 디지털 셀룰러 대역($f_0=880$ MHz)과 IMT-2000($f_0=2.14$ GHz) 대역 기지국용 이중 대역 feedforward 선형화 시스템을 구현하였다. 각 대역별로 CDMA IS-95A 4FA 신호와 WCDMA 4FA 신호를 인가하여 인접 채널 누설비(Adjacent Channel Leakage Ratio: ACLR)의 개선 정도를 측정한 결과, 디지털 셀룰러 대역에서 평균 출력 전력 41.5 dBm일 때 16.52 dB, IMT-2000 대역에서 평균 출력 전력 40 dBm일 때 18.59 dB의 개선 효과를 동시에 얻을 수 있었다.

• Smart Structures and Systems
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• 제20권4호
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• pp.483-498
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• 2017

Real-Time Hybrid Simulation (RTHS) is a powerful and cost-effective dynamic experimental technique. To implement a stable and accurate RTHS, time delay present in the experiment loop needs to be compensated. This delay is mostly introduced by servo-hydraulic actuator dynamics and can be reduced by applying appropriate compensators. Existing compensators have demonstrated effective performance in achieving good tracking performance. Most of them have been focused on their application in cases where the structure under investigation is subjected to inputs with relatively low frequency bandwidth such as earthquake excitations. To advance RTHS as an attractive technique for other engineering applications with broader excitation frequency, a discrete-time feedforward compensator is developed herein via various optimization techniques to enhance the performance of RTHS. The proposed compensator is unique as a discrete-time, model-based feedforward compensator. The feedforward control is chosen because it can substantially improve the reference tracking performance and speed when the plant dynamics is well-understood and modeled. The discrete-time formulation enables the use of inherently stable digital filters for compensator development, and avoids the error induced by continuous-time to discrete-time conversion during the compensator implementation in digital computer. This paper discusses the technical challenges in designing a discrete-time compensator, and proposes several optimal solutions to resolve these challenges. The effectiveness of compensators obtained via these optimal solutions is demonstrated through both numerical and experimental studies. Then, the proposed compensators have been successfully applied to RTHS tests. By comparing these results to results obtained using several existing feedforward compensators, the proposed compensator demonstrates superior performance in both time delay and Root-Mean-Square (RMS) error.

• 한국정보전자통신기술학회논문지
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• 제11권3호
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• pp.283-289
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• 2018

샘플-홀드 커패시터와 전압제어발진기 신호에 동작하는 피드포워드 루프필터를 가진 단방향 전하펌프를 가진 위상고정루프를 제안하였다. 제안된 위상고정루프는 기존의 2차 RC 필터에 비해서 저항 대신에 스위치와 작은 작은 크기의 커패시터를 사용하여 칩 크기를 줄일 수 있을 뿐만 아니라 전압제어발진기의 위상잡음에 영향을 미치는 ${\Delta}VLPF$의 변화량과, 기준신호 의사잡음에 영향을 미치는 ${\Delta}{\Delta}VLPF$의 변화량을 각각 1/5과 1/6로 줄였다. 제안된 위상고정루프는 1.8V $0.18{\mu}m$ CMOS 공정을 이용하여 시뮬레이션을 통해 위상잡음 특성이 개선된 동작을 확인하였다. 향후 시뮬레이션을 바탕으로 칩을 제작하여 성능을 검정할 계획이다.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2004년도 춘계학술대회 논문집
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• pp.347-352
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• 2004

The author present a modified multi-loop algorithm including feedforward for controlling a 55kW step down chopper in the power supply of Maglev. The control law for the duty cycle consists of three terms. The first is the feedforward term which compensates for variations in the input voltage. The second term consists of the difference between the slowly moving inductor current and output current. The third term consists of proportional and integral terms involving the perturbation in the output voltage. This perturvation is derived by subtracting the desired output voltage from the actual output voltage. The proportional and integral action stabilizes the system and minimizes output voltage error. In order to verify the validity of the proposed multi-loop controller, simulation study was tried using Matlab simulink.

• Journal of Power Electronics
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• 제19권4호
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• pp.869-880
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• 2019

Due to the inherent feedforward of load current, capacitor current (CC) control shows a fast transient response that makes it suitable for the power supplies used in various portable electronic devices. However, considering the effect of the outer voltage loop, the stable range of the duty-cycle is significantly diminished in CC controlled buck converters. To investigate the stability effect of the outer voltage loop on buck converters, a CC controlled buck converter with a proportion-integral (PI) compensator is taken as an example, and its second-order discrete-time model is established. Based on this model, the instability caused by the duty-cycle is discussed with consideration of the outer voltage loop. Then the dynamical effects of the feedback gain of the PI compensator and the equivalent series resistance (ESR) of the output capacitor on the CC controlled buck converter with a PI compensator are studied. Furthermore, the design-oriented closed-loop stability criterion is derived. Finally, PSIM simulations and experimental results are supplied to verify the theoretical analyses.