• Journal of Ocean Engineering and Technology
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• v.13 no.3B
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• pp.91-98
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• 1999

In order to reject the steady-state tracking error, it is common to introduce integral compensators in servosystems for constant reference signals. However, if the mathematical model of the plant is exact and no disturbance input exists, the integral compensation is not necessary. From this point of view, a two-degree-of-freedom(2DOF) servosystem has been proposed, in which the integral compensation is effective only when there is a modeling error or a disturbance input. The present paper considers a synthesis problems of this 32DOF servosystem with direct transfer term in the system representation. And, a method how we may obtain a gain such that desirable transient response is achieved, is proposed in the presence of the modelling error and disturbance input.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.85.4-85
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• 2001

A learning controller is presented for repetitive walking motion of biped robot. The learning control scheme learns the approximate inverse dynamics input of biped walking robot and uses the learned input pattern to generate an input profile of different walking motion from that learnt. In the learning controller, the PID feedback controller takes part in stabilizing the transient response of robot dynamics while the feedforward learning controller plays a role in computing the desired actuator torques for feedforward nonlinear dynamics compensation in steady state. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one asymptotically. The proposed learning control scheme is ...

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.1-8
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• 1997

In order to reject the steady-state tracking error, it is common to introduce integral compensators in servosystems for constant reference signals. However, if the mathematical model of the plant is exact and no disturbance input exists, the integral compensation is not necessary. From this point of view, a two-degree-of-freedom(2DOF) servosystem has been proposed, in which the integral compensation is effective only when there is a modeling error or a disturbance input. The present paper considers robust stability of this 2DOF servosystem incorporating an observer to the structured and unstructured uncertainties of the controlled plant. A robust stability condition is obtained using Riccati inequality, which is written in a linear matrix inequality (LMI) and independent of the gain of the integral compensator. This result impies that if the plant uncertainty is in the allowable set defined by the LMI condition, a high-gain integral compensation can be carried preserving robust stability to accelerate the tracking response.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.5
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• pp.96-103
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• 2001

The quality requirements for thickness accuracy in cold rolling continue to become more stringent, particularly in response to exacting design specification from automotive customers. One of the major impacts from the tighter tolerance level is more unusable product on the head end and tail end of tandem mill coils when the mill is in transition to or from steady state rolling condition. A strip thickness control system for a tandem cold steel rolling mills is composed with blocked non-interacting controller and controllers for strip thickness and tension control of each rolling stands. An intelligent mathematical model included an elastic deformation of strip has been developed and applied to the field in order to predict the rolling force. The simulated results showed that the effect of elastic recovery should be included the model, even if the effect of elastic compression was not important.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.214-217
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• 1993

This paper presents a new identification method which utilizes fuzzy inference in parameter identification. The proposed system has an additional control loop where a real plant is replaced by a plant model. The control system to be designed is to satisfy the following specifications: 1) It has zero steady-state error. 2) It has adequate damping characteristics. 3) 1),2) satisfied, it has a shortest rise-time. Fuzzy rules describe the relationship between comparison results of the features and magnitude of modification in the model parameter values. This method is effective in auto-tuning because the response of the closed loop is verified. The proposed method is tested in simulation for several plants with first- order lags and dead-times. The results show that the proposed method is effective in practical use.

• Wind and Structures
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• v.6 no.3
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• pp.179-196
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• 2003

A long suspension bridge is often located within a unique wind environment, and strong winds at the site seldom attack the bridge at a right angle to its long axis. This paper thus investigates the buffeting response of long suspension bridges to skew winds. The conventional buffeting analysis in the frequency domain is first improved to take into account skew winds based on the quasi-steady theory and the oblique strip theory in conjunction with the finite element method and the pseudo-excitation method. The aerodynamic coefficients and flutter derivatives of the Tsing Ma suspension bridge deck under skew winds, which are required in the improved buffeting analysis, are then measured in a wind tunnel using specially designed test rigs. The field measurement data, which were recorded during Typhoon Sam in 1999 by the Wind And Structural Health Monitoring System (WASHMS) installed on the Tsing Ma Bridge, are analyzed to obtain both wind characteristics and buffeting responses. Finally, the field measured buffeting responses of the Tsing Ma Bridge are compared with those from the computer simulation using the improved method and the aerodynamic coefficients and flutter derivatives measured under skew winds. The comparison is found satisfactory in general.

• Steel and Composite Structures
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• v.21 no.4
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• pp.703-753
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• 2016

The ratcheting behavior was studied experimentally for Z2CND18.12N elbow piping under cyclic bending and steady internal pressure. Dozens of cyclic plasticity models for structural ratcheting responses simulations were used in the paper. The four models, namely, Bilinear (BKH), Multilinear (MKIN/KINH), Chaboche (CH3), were already available in the ANSYS finite element package. Advanced cyclic plasticity models, such as, modified Chaboche (CH4), Ohno-Wang, modified Ohno-Wang, Abdel Karim-Ohno and modified Abdel Karim-Ohno, were implemented into ANSYS for simulating the experimental responses. Results from the experimental and simulation studies were presented in order to demonstrate the state of structural ratcheting response simulation by these models. None of the models evaluated perform satisfactorily in simulating circumferential strain ratcheting response. Further, improvement in cyclic plasticity modeling and incorporation of material and structural features, like time-dependent, temperature-dependent, non-proportional, dynamic strain aging, residual stresses and anisotropy of materials in the analysis would be essential for advancement of low-cycle fatigue simulations of structures.

• Wind and Structures
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• v.16 no.1
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• pp.1-23
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• 2013

The wind-induced transient response of internal pressure following the creation of a sudden dominant opening during the occurrence of high external pressure, in low-rise residential and industrial buildings was numerically investigated. The values of the ill-defined parameters namely the flow contraction coefficient, loss coefficient and the effective slug length were calibrated by matching the analytical response with the computational fluid dynamics predictions. The effect of a sudden i.e., "instantaneously created" windward opening in the Texas Technical University (TTU) test building envelope was studied for two different envelope flexibility-leakage combinations namely: (1) a quasi-statically flexible and non-porous envelope and (2) a quasi-statically flexible and porous envelope. The responses forced by creating the openings at different time leads/lags with respect to the occurrence of the peak external pressure showed that for cases where the openings are created in close temporal proximity to the peak pressure, the transient overshoot values of internal pressure could be higher than the peak values of internal pressure in the pre-sequent or subsequent resonant response. In addition, the influence of time taken for opening creation on the level of overshoot was also investigated for the TTU building for the two different envelope characteristics. Non-dimensional overshoot factors are presented for a variety of cavity volume-opening area combinations for (1) buildings with rigid/quasi-statically flexible non-porous envelope, and (2) buildings with rigid/quasi-statically flexible and porous envelope (representing most low rise residential and industrial buildings). While the factors appear slightly on the high side due to conservative assumptions made in the analysis, a careful consideration regarding the implication of the timing and magnitude of such overshoots during strong gusts, in relation to the steady state internal pressure response in cyclonic regions, is warranted.

• Journal of Power Electronics
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• v.11 no.3
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• pp.369-374
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• 2011

Usually, a LPF (low pass filter) is used in the feedback loop of a SRF (synchronous reference frame) - PLL (phase locked loop) system because the measured grid voltage contains harmonic distortions and sensor noises. In this paper, it is shown that the cut-off frequency of the LPF should be designed to suppress the harmonic ripples contained in the measured voltage. Also, a new design method for the loop gain of the PI-type controller in the SRF-PLL is proposed with consideration of the dynamics of the LPF. As a result, a better transient response can be obtained with the proposed design method. The LPF frequency and the PI controller gain are designed in coordination according to the steady state and dynamic performance requirements. Furthermore, in the proposed method, the controller gain and the LPF cut-off frequency are changed from their normal value to a transient value when a voltage disturbance is detected. This paper shows the feasibility and usefulness of the proposed methods through the computer simulations and experimental results.

• Journal of Power Electronics
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• v.16 no.5
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• pp.1904-1917
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• 2016

The moving average filter (MAF) is widely utilized to improve the disturbance rejection capability of phase-locked loops (PLLs). This is of vital significance for the grid-integration and stable operation of power electronic converters to electric power systems. However, the open-loop bandwidth is drastically reduced after incorporating a MAF into the PLL structure, which makes the dynamic response sluggish. To overcome this shortcoming, some new techniques have recently been proposed to improve the transient response of MAF-based PLLs. In this paper, a comprehensive performance comparison of advanced MAF-based PLL algorithms is presented. This comparison includes HPLL, MPLC-PLL, QT1-PLL, and DMAF-PLL. Various disturbances, such as grid voltage sag, voltage flicker, harmonics distortion, phase-angle and frequency jumps, DC offsets and noise, are considered to experimentally test the dynamic performances of these PLL algorithms. Finally, an improved positive sequence extraction method for a HPLL under the frequency jumps scenario is presented to compensate for the steady-state error caused by non-frequency adaptive DSC, and a satisfactory performance has been achieved.