• 제목/요약/키워드: feedforward loop

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  • 박용길;최현영;조형석;권대갑;곽윤근;김완수
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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    • pp.211-215
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    • 1989
  • This paper describes a dynamic robotic assembly system in which an industrial robot executes peg-in-hole task in a moving state. As an effective means to synchronize the end-effector of the robot with the moving conveyor this work uses a control algorithm which is essentially a PID position control scheme combined with velocity feedforward loop. A RCC wrist is used for the inserting task and its force responses are investigated for various tracking conditions and inserting velocities through a series of experiments.

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석도금 공정의 모델링 및 시뮬레이션 (Modelling and simulation for electrolytic tinning line)

  • 김응석;안현식;김광배;양해원
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.194-199
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    • 1992
  • In this paper, each section of an Electrolytic Tinning Line is mathematically modelled with the coupling effect accounted for. Based on the modelling, PI and feedforward controllers are designed for speed control or tension control of each section of the process line. It is shown through simulatios that the tension of the stip is controlled precisely along the entire line and the contituety of the process is insured when using the efficient control of loop towers.

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불확실한 파라미터를 갖는 시스템을 위한 근궤적법을 이용한 지능형 PID 제어기 설계 (Intelligent PID Controller Design Using Root-Locus Analysis for Systems with Parameter Uncertainties)

  • 신영주
    • 한국정밀공학회지
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    • 제25권10호
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    • pp.67-76
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    • 2008
  • In this research, a simple technique for designing PID controller, which guarantees robust stability for two-mass systems with parameter uncertainties as well as rigid-body behavior and zero steady-state error,is described. As well, such a PID controller is designed to mate two important frequencies, at which the given system is excited, very close so that an appropriate reference profile generated by using command shaping techniques can cover those two frequencies. Root-locus analysis. which shows traces of closed-loop poles for the given system, is used to design this PID controller. Finally, feedforward controller is added to improve tracking performance of the closed-loop system. Simulation for a system with a flexible mode and parameter uncertainties is executed to prove the feasibility of this technique.

Bidirectional High-Frequency Link Inverter with Deadbeat Control

  • Salam, Zainal
    • Journal of Power Electronics
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    • 제9권5호
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    • pp.726-735
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    • 2009
  • This paper presents a Bidirectional High-Frequency Link (BHFL) inverter that utilizes the Deadbeat controller. The main features of this topology are the reduced size of the inverter and fewer power switches. On the secondary side of the transformer, the active rectifier employs only two power switches, thus reducing switching losses. Using this configuration, the inverter is capable of carrying a bidirectional power flow. The inverter is controlled by a Deadbeat controller, which consists of the inner current loop, outer voltage loop and a feedforward controller. Additional disturbance decoupling networks are employed to improve the system's robustness towards load variations. A 1-kVA prototype inverter has been constructed and the Deadbeat control algorithm is experimentally verified. The experimental results show that the inverter has high efficiency (91%) with low steady state output voltage total harmonics distortion (1.5%).

DSP를 사용한 브러시리스 DC 모터의 향상된 디지털 전류제어기 설계 (A Design of Improved Digital Controller of BLDC Motor Using DSP)

  • 하영석;안호균;박승규;이종주;김성환
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2001년도 하계학술대회 논문집 B
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    • pp.1209-1211
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    • 2001
  • Generally, the current controller is located inner the whole controller, so the characteristic of the current controller is important in controlling performance of the upper controller. A current control loop in motor control is designed so that it is 10 times faster than the speed control loop of the upper controller. Thus, the current controller with complex control algorithm is not proper. In this paper, the improved current controller using a conventional digital PI controller and feedforward controller for the brushless BC motor is designed.

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유연한 조작기의 끝점위치 및 접촉력 제어 (End point and contact force control of a flexible manipulator)

  • 최병오
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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    • pp.552-558
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    • 1993
  • In this paper, control of a planar two-link structurally flexible robotic manipulator executing unconstrained and constrained maneuvers is considered. The dynamic model, which is obtained by using the extended Hamilton's principle and the Galerkin criterion, includes the impact force generated during the transition from unconstrained to constrained segment of the robotic task. A method is presented to obtain the linearized equations of motion in Cartesian space for use in designing the control system. The linear quadratic Gaussian with loop transfer recovery (LQG/LTR) design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. The LQG/LTR compensator together with a feedforward loop is used to control the flexible manipulator. Simulated results are presented for a numerical example.

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Generalized predictive control based on the parametrization of two-degree-of-freedom control systems

  • Naganawa, Akihiro;Obinata, Goro;Inooka, Hikaru
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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    • pp.1-4
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    • 1995
  • We propose a new design method for a generalized predictive control (GPC) system based on the parametrization of two-degree-of freedom control systems. The objective is to design the GPC system which guarantees the stability of the control system for a perturbed plant. The design procedure of our proposed method consists of three steps. First, we design a basic controller for a nominal plant using the LQG method and parametrize a whole control system. Next, we identify the deviation between the perturbed plant and the nominal one using a closed-loop identification method and design a free parameter of parametrization to stabilize the closed-loop system. Finally, we design a feedforward controller so as to incorporate GPC technique into our controller structure. A numerical example is presented to show the effectiveness of our proposed method.

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속도제어-유압펌프에 의하여 구동되는 사출성형 실린더의 궤적추적제어 (Trajectory Tracking Control of Injection Molding Cylinder Driven by Speed Controlled Hydraulic Pump)

  • 조승호
    • 유공압시스템학회논문집
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    • 제4권2호
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    • pp.21-27
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    • 2007
  • This paper deals with the issue of trajectory tracking control of a clamping cylinder for injection moulding machine, which is directly driven by speed controlled hydraulic pump in combination with AC servomotor. As a fundamental step prior to tracking controller design, feedback control system is developed by implementing a position control loop parallel with a system pressure control loop. A sliding mode controller combining velocity feedforward scheme is developed for enhancing the tracking performance. Consequently a significant reduction in tracking error is achieved for both position and pressure control applications.

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로봇 매니퓰레이터의 적응학습제어에 관한 연구 (Study of Adaptive Learning Control for Robot-Manipulator)

  • 최병현;국태용;최혁렬
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1996년도 추계학술대회 논문집
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    • pp.396-400
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    • 1996
  • It is prerequisite to apply dynamics controller to control robot manipulator required to perform fast and Precise motion. In this Paper, we Propose an adaptive 3earning control method for the dynamic control of a robot manipulator. The proposed control scheme is made up of PD controller in the feedback loop and the adaptive learning controller in the feedforward loop. This control scheme has the ability to estimate uncertain dynamic parameters included intrinsically in the system and to achieve the desired performance without the nasty matrix operation. The proposed method is applied to a SCARA robot and experimentally verified.

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외란 관측기와 Dead-Beat 제어기를 이용한 UPS 인버터 제어 알고리즘 (Inverter Control algorithm for UPS using Dead-Beat controller with disturbance Observer)

  • 장재영;송중호;최익;최주엽;유지윤
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2000년도 하계학술대회 논문집 B
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    • pp.1196-1198
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    • 2000
  • In this paper, a new approach for digital feedback control of PWM inverter is proposed, in which an output DB(Dead-Beat) control is achieved combined with a simple disturbance observer. The deadbeat controller, which is constructed multiple loop control scheme for PWM inverter, is used for fast transient response. The disturbance observer can make the disturbances be cancelled by adding feedforward compensating loop in controller. The simulation result show the proposed control scheme can achieved good voltage regulation against large load variations.

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