• Title, Summary, Keyword: Repetitive Control(반복제어)

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A Study on Repetitive Tracking Control of a Coarse-Fine Actuator (조미동 구동기의 반복추종제어에 관한 연구)

  • Choi, Gi-Sang;Oh, Jong-Hyun;Choi, Gi-Heung
    • Journal of the Korean Institute of Telematics and Electronics T
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    • v.36T no.4
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    • pp.38-46
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    • 1999
  • This paper discusses the repetitive tracking control method for a coarse-fine actuator. The proposed system is composed of a magnetic linear drive as a coarse actuator and a piezoelectric linear positioner as a fine actuator. In particular, nonlinear friction in a magnetic linear drive and hysteresis characteristic of a piezoelectric linear positioner are modeled first. The feedback linearization loop uses these models in tracking position control. The control strategy is then further extended to include a repetitive control algorithm in tracking periodic reference inputs. This repetitive controller is implemented on the existing PID controller augmented with feedback linearization loop. The experimental results show that performance in tracking sinusoidal waveforms is noticeably improved by augmenting a PID controller with feedback linearization loop and a repetitive controller together.

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A Driving Method and Precise Repetitive Control of BLDC Motor (BLDC 모터의 구동방법과 정밀 반복제어)

  • 이충환
    • Journal of Advanced Marine Engineering and Technology
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    • v.22 no.6
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    • pp.928-934
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    • 1998
  • This paper describes a fully digitalized driver for BLDC motors which is realized by a single chip microprocessor. The speed change can be done by using the signal obtained from the position detecting sensor and adjusting the pulse width at the input channel of power module. In order to establish a speed control system a repetitive control method is adopted to track a periodic refer-ence change in the BLDC motor system. The experimental results show accurate reference track-ing performance under the given periodic reference in the repetitive controller design.

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Adaptive Repetitive Control for an Eccentricity Compensation of Optical Disk Drive (광 디스크 드라이브의 편심 보상을 위한 적응 반복 제어)

  • Seo, Sam-Jun;Kim, Dong-Won;Park Gwi-Tae
    • Journal of the Korean Institute of Intelligent Systems
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    • v.15 no.2
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    • pp.135-142
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    • 2005
  • This paper presents an adaptive repetitive control scheme for optical disk drives to track a variable periodic reference signal. Periodic disturbances can be adequately attenuated using the concept of repetitive control, provided the period is known. Because optical disk drives support various speeds, they have the varying periodic disturbances. Based on repetitive control to change sampling frequency to follow the change of reference period, an adaptive repetitive control is proposed in order to deal with such disturbances. The proposed control consists of the repetitive controller and the frequency generator. The former uses a varying sampler operating at fixed multiple times of the disturbance frequency and the latter generates the changeable sampling frequency based on the disturbance frequency. The experimental results on the control of an optical disk drive demonstrate the effectiveness of the proposed schemes and the improvement of random access time as well.

Control of SCR System for NOx Reduction in a Refuse Incineration Plant Using Repetitive Control Method (반복제어법을 이용한 소각장 NOx 저감용 SCR 시스템의 제어)

  • 김인규;여태경;김환성;김상봉
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.24 no.11
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    • pp.2762-2770
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    • 2000
  • The refuse incineration plant has an important role in saving the combustion energy for local heating system. But harmful combustion gas(NOx etc.) leads to some serious environmental problem. To reduce the gas, a SCR(Selective Catalytic Reduction)system is installed and it is controlled by adjusting the flow of ammonia gas(NH3) . In this paper, we apply a repetitive control method to reduce NOx by adjusting the flow of ammonia gas for SCR system in a refuse incineration plant which is located in Haeundae, Pusan, Firstly, we analyze the inlet NOx period by FFt method, and verify its periodic variations. Secondly, we design a repetitive control system by using state space model method. Lastly, the effectiveness of repetitive control system is shown by comparing to a conventional PID control in simulation and experimental results.

Development of driver for BLDC motor system and precise repetitive control (BLDC 모터의 구동장치 개발 및 정밀 반복제어)

  • 강병철;이충환;김상봉
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1257-1260
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    • 1996
  • This paper describes a fully digitalized driver for BLDC motors and the driver is realized by a single chip microprocessor. The speed change can be done by using the signal obtained from the position detecting sensor and adjusting the pulse width at the input channel of power module. In order to verify the effectiveness, an repetitive control method is adopted in the speed control tracking a periodic reference change in the BLDC motor system. The experimental results are shown for the reference tracking accurately according to the design parameter variation in the repetitive controller design.

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A Study on the Precise Tracking Control in the Repetitive Manufacturing Process (반복 생산 공정에서의 정밀 추종제어에 관한 연구)

  • 신춘식;안영주;변기식
    • Journal of Advanced Marine Engineering and Technology
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    • v.24 no.1
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    • pp.112-118
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    • 2000
  • A modified repetitive control is formulated and analyzed in the discrete-time domain. Sufficient conditions for the stability of a class of repetitive controllers are given by means of the regeneration spectrum method. When a periodic signal input is drived into the two-mass-spring plant, the performance of the proposed controller which comprises a low-pass filter and two feed-forward compensators, turns out highly accurate by comparing the tracking result from the conventional LQ controller.

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Robust Repetitive Control for a Class of Nonlinear Systems (비선형 시스템에 대한 강인 반복 제어기)

  • 서원기
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.40 no.6
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    • pp.1-7
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    • 2003
  • This paper introduces a robust sliding mode repetitive control method for a class of nonlinear system. The sliding mode controller stabilizes the overall system and makes the tracking error converge to some residual set. Also, tile repetitive learning controller makes the tracking error converge to zero. Unlike other methods, the proposed sliding mode controller reduces the chattering effects in the steady state without using high-order sliding manifold approach.

Analysis and design of two types of digital repetitive control systems (두가지 이산 반복제어 시스템의 해석 및 설계)

  • 장우석;김군진;김준동;서일홍
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1051-1059
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    • 1992
  • Two types of digital repetitive control systems are analyzed and designed to reduce the error spectrum including not only harmonic but also non-harmonic components. First, a novel gain scheduling algorithm is suggested for conventional and modified repetitive controller is scheduled to reduce the infinite norm of error in frequency domain. For this, the relative error transfer function is mewly defined as the ratio of the error spectrum for the system with a repetitive controller to the error spectrum for the system with a repetitive controller to the error spectrum for the system without a repetitive controller. Secondly, as an alternative of a repetitive control system with the gain scheduling, a repetitive control system with higher order repetitve function is analyzed and designed, where instead of equal weightings, weightings of the higher order repetitive function is determined in such a way that the infinite norm of relative error transfer function is minimized. To show the validities of proposed methods, computer simulation results are illustrated for a typical disk drive head positioning servo system.

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Application to Real Time Repetitive Control in Belt Drive Systems (벨트 구동 시스템에서의 실시간 반복제어 응용)

  • 유영순
    • Journal of Institute of Control, Robotics and Systems
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    • v.4 no.4
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    • pp.420-426
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    • 1998
  • It is the purpose of this paper to make a preliminary study on the use of repetitive control to improve velocity accuracy by eliminating repetitive disturbances caused by machining inaccuracies of the axis of rotation location. If the control system can be intelligent enough to compensate for such machining errors, then one may be able to improve the accuracy of the velocity control, or alternatively, one may maintain the same accuracy and relax the machining tolerances required. This could decrease cost significantly. Experiments are performed testing repetitive control methods on a constant speed rolling operation testbed. The experimental results show very substantial decreases in the tracking error of the system. Spectral data of the output motion are given to demonstrate the attenuation of the disturbance frequencies and harmonics, related to the bandwidth being used. It is seen that the simplest form of repetitive control which is very easily implemented, can produce striking improvement in control system performance in such belt drive rolling operations, and the learning can be accomplished in a short time.

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Discrete-Time Adaptive Repetitive Control and Its Application to Linear Motors (적응 이산시간 반복제어 및 리니어모터에의 응용)

  • Ahn, Hyun-Sik
    • Proceedings of the KIEE Conference
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    • pp.79-82
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    • 2002
  • In this paper, we propose an adaptive repetitive control algorithm for the system the task of which is repetitive. The feedforward controller in the repetitive control system is modified by using the system parameter identifier in order to improve the convergence characteristics. The proposed algorithm is applied to the tracking control of a linear BLDC motor to which a periodic reference input is applied. It is illustrated by simulation results that the proposed adaptive repetitive control method yields better control performance than existing repetitive control even when modeling errors exist.

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