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혼합 $H_2/H_{\infty}$제어에 의한 강인한 서보시스템의 설계 -3관성 벤치마크문제의 해법 -
최연욱,Choe, Yeon-Wook The Korea Institute of Convergence Signal Processi 2005 융합신호처리학회 논문지 (JISPS) Vol.6 No.3
본 논문은 혼합 $H_2/H_{\infty}$ 제어를 이용한 강인한 서보시스템의 설계법을 제안하고 이것을 3관성 벤치마크문제에 적용하여 이 방법의 유용성을 확인한다. 먼저 내부모델의 원리를 이용하여 혼합 $H_2/H_{\infty}$ 제어기법을 적용할 수 있는 구조를 제안하고 이 구조의 타당성을 검토한다. 다음에 강인한 서보시스템의 설계조건을 각각 $H_2$ 및 $H_{\infty}$의 설계사양으로 분리한 뒤 제안된 혼합 $H_2/H_{\infty}$ 설계법에 적용하여 설계를 LMI이론에 의하여 실행한다. 마지막으로 3관성벤치마크 문제에서 부가된 몇 가지의 사양을 제안된 혼합 $H_2/H_{\infty}$법에 맞도록 수정한 뒤 제어기의 설계를 통한 설계사양의 만족도를 확인한다. The purpose of this paper is to propose an approach to design a robust servo controller based on the mixed $H_2/H_{\infty}$ theory, and confirm its validity by applying to a benchmark problem. First, the existing $H_{\infty}$ servo problem is modified to a structure for the mixed $H_2/H_{\infty}$ control problem by virtue of the internal model principle. By making use of proposed structure, we can divide specifications required in the robust servo system design into $H_2$ and $H_{\infty}$ performance criteria, respectively. It is shown that the proposed design approach is quite effective through an application to a three inertia benchmark problem.
혼합 $H_2$/$H^$\infty$$과 $\mu$-설계이론을 이용한 3관성 문제의 해법
최연욱,Choe, Yeon-Wook 제어로봇시스템학회 2001 제어·로봇·시스템학회 논문지 Vol.7 No.11
This study investigates the use of mixed $H_2$/$H^$\infty$$ and $\mu$-synthesis to construct a robust controller for the benchmark problem. The model treated in the problem is a coupled three-inertial system that reflects the dynamics of mechanical vibrations. This kind of problem requires to be satisfied the robust performance (both in the time and frequency-domain specifications). We, first, adopt the mixed $H_2$/$H^$\infty$$ theory to design a feedback controller K(s). Next, $\mu$-synthesis method is applied to the overall system to make use of structured parametric uncertainty. This process permits higher levels of controller authority and reduces the conservativeness of the controller. Finally, the feedforward controller is also used to improve the transient response of the output. We confirm that all design specifications except a complementary sensitivity condition can be achieved.
최연욱(Wook-Wook Choe) 대한전기학회 2015 전기학회논문지 Vol.64 No.8
This paper is concerned with applicability of intelligent PID controller which is proposed by Fliss and Join recently. First, we analyze the stability regions of intelligent PID control systems when parameter α is varying, and propose a new method to determine the suitable range of α by using the roots locus. Second, the simulation study of magneto-rheological (MR) damper to the structural vibrations due to earthquakes is presented to verify the effectiveness of the intelligent PID control method.
최연욱(Yeon-Wook Choe) 대한전기학회 2011 전기학회논문지 Vol.60 No.9
Though various techniques have been studied as a way of adjusting parameters of PID controllers, no perfect method of determining parameters is available to date. This paper proposes a new method for enhancing performance of PID controllers by using the characteristics of dual-input describing function (DIDF). In other words, if nonlinear elements with two inputs (DIDF) are connected in series to the plant, the critical point (-1+j0) for Nyquist stability theory can be moved to a position arbitrarily selected on the complex plane by determining necessary coefficients of the DIDF appropriately. This makes the application of the existing conventional PID parameter tuning methods a lot easier, and stability and robustness of the system are improved simultaneously due to the DIDF inserted.
최연욱(Yeon-Wook Choe) 대한전기학회 2020 전기학회논문지 Vol.69 No.1
This paper is concerned with the problem of determining the intelligent PID (iPID) controller’s 4 parameters, that is, α & KP · KI · KD. The iPID was recently proposed by Fliss and Join, and many successful cases of using it have been reported. Although these parameters, especially α , is known to have a significant effect on control performance, few studies have been done on an optimal value or setup methods for α in relation to the characteristics of the plants. First, using the Anischronic model, the control performances according to the increase and decrease of α are assessed and based on these results, the optimal values of iPID’s four parameters are given based on the seven plants of various formats. The parameter optimization technique is adopted to determine parameters for iPID controller. Second, check the usefulness of the optimal values proposed with various types of plants.
최연욱(Yeon-Wook Choe) 대한전기학회 2018 전기학회논문지 Vol.67 No.9
This paper is concerned with the problem of setting controller’s parameters when applying the intelligent PID (i-PID), which has recently been proposed and had many successful results, to the two-degree-of-freedom (2DoF) PID controller structure. Generally, the parameter settings of conventional PID controllers are known to be quite difficult and be dependent on the characteristics of the plants. In addition, it is less known how the two 2DoF parameters are set up for the improvement of transient characteristics. Here, we are going to present one of the criteria for parameter setting in the case of using a 2DoF i-PID, by evaluating the error signals to the set-point and disturbance. That is, we first, obtain parameters of i-PID by optimizing the disturbance responses, and then determine two parameters of 2DoF component through optimizing set-point response. The standard values of all parameters are calculated for the 7 types of test batches and rounded up as a table.