• Title, Summary, Keyword: 모델규범형적응제어

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A Study on the Characteristics Improvement of Fluid Power Actuator Using Adaptive Control (적응제어를 이용한 유압 액츄에이터의 특성개선에 관한 연구)

  • 염만오;윤일로
    • Journal of the Korean Society for Precision Engineering
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    • v.21 no.1
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    • pp.124-132
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    • 2004
  • A hydraulic system is difficult to keep the performance due to non-linearity, load pressure which changes according to working condition and system parameter variation, the requirement of control algorithm has been risen in order to satisfy them. An adaptive control is a control method which is suggested to achieve a control object though plant characteristics change. In spite of the case that plant characteristics and the degree of variation are difficult to grasp, adaptive control can keep the characteristics of closed-loop system regularly. In this study GMVAC(generalized minimum variance adaptive control) combined with output error feedback is proposed in order to solve problems of non-minimum phase, vibration and overshoot in initial response of the plant. The control performance according to the variation of characteristics of the plant is evaluated by changing the supply pressure only.

A Study on The Adaptive Control of the Rotational Systems by Means of the Normal Model Tracking Method (규범모델 추종방식에 의한 회전계통의 적응속도제어에 관한 연구)

  • 하주식;송문현
    • Journal of Advanced Marine Engineering and Technology
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    • v.19 no.3
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    • pp.77-83
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    • 1995
  • Recently, in the field of industrial servo-systems, several methods have been proposed for tracking the reference input fastly and finely without overshoot. These methods, however, are established under hypothesis that structure and parameters of the plant are known accurately and they are time invariant. In practice, it is difficult to obtain the values of plant's parameters accurately and usually plants change with time and operation conditions. In this paper a method to construct the nominal model tracking adaptive control system is proposed. The system is composed of the nomial model which produces a ideal response and the model tracking system with the fuzzy adaptive controller. If the actual plant is equal to the controlled object in the nominal model, the output of the plant is the same as that of the nominal model and the fuzzy adaptive controller becomes idle. However, when the plant changes, the fuzzy adaptive controller of the tracking system operates in order for the output of the plant to track the ideal response. Through the computer simulations under various conditions, it is confirmed that the proposed model tracking system is very effective.

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An Improvement of Convergence Rate for Direct Model Reference Adaptive Control Systems (직접 모델 규범형 적용 제어계에 대한 수렴 속도 개선)

  • 김도현;최계근
    • Journal of the Korean Institute of Telematics and Electronics
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    • v.20 no.1
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    • pp.37-44
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    • 1983
  • A class of adaptive control algorithms applied to discrete-time single-input single-output deterministic linear systems is analyzed by using direct model reference adaptive control. Controller parameters are identified with weighted least square Method. And computer simulations reveal that proposed weighted least square method in which the value of depends on the identification error can be used regardless of the sufficient condition of reference input signal.

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Characteristics Improvement of Hydraulic Servosystem by Using Generalized Minimum Variance Adaptive Control (일반화최소분산 적응제어를 이용한 유압 서보계의 특성개선에 관한 연구)

  • 박용호;김기홍;이진걸
    • Journal of Advanced Marine Engineering and Technology
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    • v.27 no.3
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    • pp.388-394
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    • 2003
  • Hydraulic system is difficult to obtain a suitable performance due to the nonlinearity load pressure change and system parameter variation. The requirement of control a1gorithm has been complex in order to satisfy the performance. The adaptive control is a control method which is suggested to achieve the control object under the plant characteristics change. In spite of the case that plant characteristics and the degree of variation are difficult to grasp. the adaptive control could keep the characteristics of closed-loop system generally. In this study. a method of combined generalized minimum variance adaptive control (GMVAC) and output error feedback is proposed, in order to solve the problem of non-minimum phase of plant and the vibration and overshoot in initial response. The control performance according to the variation of characteristics of plant is evaluated by changing the supply pressure. The experimental results show the effectiveness of the proposed scheme.

Control Characteristics of Fluid Power Cylinder Moving Up and Down (상하운동하는 유압실린더의 제어특성)

  • Yum, Man-Oh;Yoon, Il-Ro;Lee, Seok-Young
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.28 no.8
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    • pp.1152-1158
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    • 2004
  • In this study a MRAC(model reference adaptive control) for fluid power elevator model system was designed. The MRAC was compared with PI control in case of applying to the elevator model system with constant external load and changing external load. In this case external load was produced by a single fluid power cylinder combined with pressure control valve. In conclusion the MRAC control performance was better than PI control performance because overshoot and steady state error of the elevator model system controlled by the MRAC were not appeared for constant and changing external load.

A Study on Control Characteristics of Fluid Power Elevator (유압식 엘리베이터의 제어특성에 관한 연구)

  • Yum, Man-Oh
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.2 no.3
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    • pp.41-47
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    • 2003
  • In this study an elevator plant model is made with an electro-hydraulic servo valve and a single rod cylinder. A PID controller, a velocity feedback PID controller and a MRAC controller ate designed. Experimental apparatus including an elevator plant model and these controllers are constructed. In case of experiment, external load which is made with a hydraulic cylinder and a pressure control valve burdens varying load to the elevator plant model being driven. With experiment, the control performances of three proposed control methods are compared.

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Control Characteristics Improvement of Single Rod Hydraulic Cylinder Subjected to Varying Load (가변하중을 받는 유압실린더의 제어특성개선)

  • Yum, Man-Oh
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.2 no.4
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    • pp.46-52
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    • 2003
  • For position control of electro-hydraulic servo system, single rod cylinders and double rod cylinders are used. Single rod cylinders have simple structure for manufacturing but different volume ratio of two sides induce to non-linearity in process of then mathematical modeling. So only with conventional PID control method it is difficult to control single rod cylinders precisely. For mole precise position control of single rod cylinders, a controller which is inserted a velocity feedback PID controller and MRAC controller are proposed. With experiment control performances of three control methods are compared. In case of experiment, for external varying load to the system, a hydraulic cylinder and a pressure control valve are used. In conclusion a MRAC is considered a suitable control method for external varying load.

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A Design of Robust Adaptive Control Systems of Robot Arms for conveyor Tracking (컨베이어 추적을 위한 로보트 팔의 강인한 적응 제어계 설계)

  • 엄기환;손동설;김주홍
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.15 no.11
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    • pp.945-954
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    • 1990
  • In this paper, we presents a robust adaptive control system design method in the work coordinate of the robot arm for conveyor tracking. In the design, if the weighting function $L_K$ is smaller than the design parameter then the transient characteristics of system becomes stable, if $L_K$ is larger than then the system becomes unstable. Proposed design method presented here is based on model referenece adaptive control and Popov stability theorem. By the utiliza/tion of an auxilary input, it is improved the transent characteristics of the system in comparison with the conventional model reference adptive control, since the rate of V and V(t) is large. The usefulness of a proposed design method has been confirmed by computer simulations.

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