강인 성능 조건을 만족하는 궤환 시스템을 위한 반복제어기의 설계

도태용,유정래 제어로봇시스템학회 2009 제어로봇시스템학회 국내학술대회 논문집 Vol.2009 No.9

Given a periodic reference signal or disturbance, repetitive control is a special control scheme to reduce a tracking error effectively by the periodic signal generator in the repetitive controller. In general, a repetitive controller is added on the existing feedback control system to improve the tracking performance. however, the repetitive controller has been designed without utilizing the information used in the design of the feedback controller. In this paper, we present a method to design an add-on type repetitive controller using the information on the performance of the existing feedback control system. We first show that a robust stability condition of repetitive control systems is obtained using the well-know robust performance condition of general feedback control system. It is also shown that we can obtain a steady-state tracking error described in a simple form without time-delay element if the robust stability condition is satisfied for the repetitive control system. From the obtained results, several design criterions for repetitive controller are provided.

강인한 궤환 제어 시스템을 위한 반복 제어기의 설계

김광수(Kwang Soo Kim),도태용(Tae-Yong Doh) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.7

Given a periodic reference signal or disturbance, repetitive control is a special control scheme to reduce a tracking error effectively by the periodic signal generator in the repetitive controller. In general, a repetitive controller is added on the existing feedback control system to improve the tracking performance. However, because the information used in the design of the feedback controller is not taken into account, the design problem of the repetitive controller is totally another problem irrespective of that of the feedback controller. In this paper, we present a more general method to design an add-on type repetitive controller using the information on the performance of the existing feedback control system. We first show that a robust stability condition of repetitive control systems is obtained using the well-known robust performance condition of general feedback control systems. It is also shown that we can obtain a steady-state tracking error described in a simple form without time-delay element if the robust stability condition is satisfied for the repetitive control system. From the obtained results, several design criterions for repetitive controller are provided. Through the simulation study, the feasibility of the proposed method is verified.

상태 궤환을 이용한 H_∞ 반복 제어 시스템 설계

도태용,Doh, Tae-Yong 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.1

Repetitive control is a specialized control scheme to track and/or attenuate a periodic reference trajectory and/or disturbance. Most researches about repetitive control have been performed in the frequency domain. Recently, several approaches to deal with repetitive control systems in the state space are developed by representing a q filter as a state-space equation. This paper presents a design method of a repetitive control system in the state space to satisfy $H_{\infty}$ performance. The overall system is composed of a plant, a repetitive controller, and a state-feedback controller, which can be converted to a standard form used in $H_{\infty}$ control. A LMI (Linear Matrix Inequality)-based stability condition is derived for fixed state-feedback gains. Under a given q filter, another LMI condition is derived to improve $H_{\infty}$ performance and is employed to find state-feedback gains by solving an optimization problem. Finally, to verify the feasibility of the proposed method, a numerical example is demonstrated.

Robust Repetitive Control Design and Its Application on Linear Servo Systems

Zeyuan Li,Wennong Zhang,Yihuang Zhang,Xiang Xu 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.

A robust design method of the discrete-time plug-in repetitive control system is proposed. By modifying the stabilizing compensator,the robustness of the repetitive control system can be well ensured together with the zero-following error performance. The designmethod is simple and straightforward. Meanwhile, a novel robustness criterion for the discrete-time repetitive control system isintroduced, and theoretical analysis is taken to compare the robustness of the proposed controller with the widely used zero phaseerror tracking controller (ZPETC). The proposed repetitive controller is implemented in a linear servo system. Simulation isperformed to verify the theoretical analysis, and the experimental results show the effectiveness of the proposed controller.

High precision harmonic controller combined with repetitive and modulated model predictive controllers

Dongmin Choi,Jung-Yong Lee,Seungil Choi,Taehwan Ahn,Younghoon Cho 전력전자학회 2023 JOURNAL OF POWER ELECTRONICS Vol.23 No.6

This paper proposes a high precision harmonic controller combined with repetitive and modulated model predictive controllers for standalone inverter applications. The proposed method is configured as a dual loop controller that includes an outer voltage controller with a plug-in repetitive controller (RC) and an inner current controller with a modulated model predictive controller (MMPC). The RC in the outer control loop effectively synthesizes the harmonic current reference when connecting a nonlinear load with a periodic harmonic current. Then, the MMPC-based current controller, with its ultra-wide bandwidth, regulates the harmonic current without additional harmonic current controllers. Thus, the abilities to precisely control the harmonic current and improve the output voltage quality are achieved. To combine the MMPC and the repetitive controller, an equivalent transfer function is derived from the ac sweep result of the MMPC. The stability of the RC is analyzed by applying the equivalent transfer function to the closed-loop voltage control model. To validate the performance of the proposed control method, a 3 kVA single phase 3-level T-type inverter prototype is built and tested. The harmonic compensation and dynamic performance of the proposed method are verified by simulation and experimental results.

Robust Repetitive Control with Feedforward Scheme for Stand-Alone Inverter

Wiboon Sintanavevong,Sudchai Boonto,Sumate Naetiladdanon 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10

This paper proposes the combining of μ-synthesis robust repetitive control and feedforward control scheme to the design of constant sinusoidal voltage tracking for a stand-alone three-phase constant voltage inverter. The controller designed problem is defined in the form of two-degree-of-freedom feedback-feedforward controller. The D-K iterative algorithm is used to solve for both parts of the controller in one procedure to get the optimal controller. The proposed control scheme inherits the advantage of the robust repetitive control but does better in tracking performance. Simulation studies of the system were carried out using Matlab/SIMULINK to verify the effectiveness of the controller. The results show that the proposed control scheme outperforms the previous works under the scenario cases.

Versatile UPQC Control System with a Modified Repetitive Controller under Nonlinear and Unbalanced Loads

Quoc-Nam Trinh,Hong-Hee Lee 전력전자학회 2015 JOURNAL OF POWER ELECTRONICS Vol.15 No.4

A standard repetitive controller (RC) is theoretically able to replace a bank of resonant controllers in harmonic signals tracking applications. However, the traditional RC has some drawbacks such as a poor dynamic response and a complex structure to compensate grid frequency deviations for an effective unified power quality conditioner (UPQC) control scheme. In order to solve these problems, an improved RC with an outstanding dynamic response and a simplified grid frequency adaptive scheme is proposed for UPQC control systems in this paper. The control strategy developed for the UPQC has delay time, i.e., one-sixth of a fundamental period (Tp/6), repetitive controllers. As a result, the UPQC system can provide a fast dynamic response along with good compensation performance under both nonlinear and unbalanced loads. Furthermore, to guarantee the excellent performance of the UPQC under grid frequency deviations, a grid frequency adaptive scheme was developed for the RC using a simple first order Pade’s approximation. When compared with other approaches, the proposed control method is simpler in structure and requires little computing time. Moreover, the entire control strategy can be easily implemented with a low-cost DSP. The effectiveness of the proposed control method is verified through various experimental tests.

A Load Compensator Based on One-Cycle Control with Plug-In Repetitive Control

Jian Hu,Zhaohui Sun,Hao Ma,Guozhu Chen 전력전자학회 2015 JOURNAL OF POWER ELECTRONICS Vol.15 No.2

This study proposes a novel one-cycle control scheme with a plug-in repetitive controller for load compensator. The novelty of this scheme lies in the combination of high dynamics and the simplicity of a one-cycle controller and good steady-state harmonic suppression ability of the repetitive controller. In addition, the proposed scheme can reduce the effect of the harmonics in phase voltage for the existence of the repetitive controller. Finally, experimental results on a three-phase, four-wire, three-level load compensator are reported to validate the effectiveness of the proposed control scheme.

공진제어기와 반복제어기를 사용한 전동기의 주기적인 속도 리플 저감

정성민,이정호,최종우 대한전기학회 2018 전기학회논문지 Vol.66 No.11

This paper presents new speed control strategy for periodic load torque injected in AC motor. If motor drive system has a periodic load torque, it causes a periodic motor speed ripple bringing about vibrations and noises. This paper proposed new control method consisting of PIR(proportional-integral-resonant) controller and repetitive controller. PIR controller controls DC, low frequency and fundamental components and repetitive controller controls other harmonics. The performance has been verified through computer simulations using MATLAB Simulink and experiments.

반복제어기를 이용한 하드디스크의 주기적인 외란 보상

신호철,박성원,박태욱,양현석,박영필 한국소음진동공학회 2004 한국소음진동공학회 논문집 Vol.14 No.2

This paper presents three algorithms of repetitive controller for compensation of the repeatable runout in hard disk drive. The basic theory of the repetitive controller and the analysis of the disturbance in hard disk drive are introduced. The tracking controller is designed in order to design the 'plug-in type' repetitive controller. Design of the repetitive controller is considered as the design of the filter, determination of gain and design of additional compensation for the various types. Specially, trade-off relationship between stability and performance is important for the design. The three kinds of 'plug-in type' repetitive controllers are designed, simulated and experimented. Performance and characteristic of them are compared with the analysis of the experimental results.