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CAN 시간지연에 대한 아라고 진자의 위치제어 성능분석
박태동(Taedong Park),이재호(Jeaho Lee),윤수진(Sujin Youn),박기헌(Kiheon Park) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
In this paper, the position control performance of networked control systems is analyzed when time delay through the network is considered. Integrating a control system into a network has great advantages over the traditional control system which uses point to point connection: it allows remarkable reduction in wiring, makes it easy to install and maintain the system, and improves compability. However, a networked control system has the critical defect that network uncertainties. such as time delay, can degrade the control system's performance. Therefore, the major concern of a networked control system is analyzing the effect of network uncertainties. This paper is concerned with PID controller performance for stability region, critical stability region and unstability region under the time delay in the Controller Area Network.
박태동(TaeDong Park),이재호(Jeaho Lee),백산림(Shanlin Bai),박기헌(Kiheon Park) 대한전기학회 2008 정보 및 제어 심포지엄 논문집 Vol.2008 No.1
Demand for reliability and safety in modem systems has been increased in the research on fault detection and isolation. At traditional approaches to fault detection, redundant sensors have been used. More advanced methods are the residual analysis of signals which are created by the comparison between the actual plant behavior and the output response of a mathematical model. However, mathematical system models are difficult to obtain by using physical laws. These problems can be solved by system identification. In this paper, the transfer function of a direct current motor is estimated by using the system identification. And, the efficiency of the fault detector design is verified by using experiments.
LMI 기법을 이용한 2자유도 표준모델에 대한 비결합 제어기의 H(sub)$\infty$ 설계
강기원,이종성,박기헌,Gang, Gi-Won,Lee, Jong-Sung,Park, Kiheon 제어로봇시스템학회 2001 제어·로봇·시스템학회 논문지 Vol.7 No.3
In this paper, the decoupling H(sub)$\infty$ controller which minimizes the maximum energy in the output signal is designed to reduce the coupling properties between the input/output variables which make it difficult to control a system efficiently. The state-space formulas corresponding to the existing transfer matrix formulas of the controller are derived for computational efficiency. And for a given decoupling $H_{\infty}$ problem, an efficient method are sought to find the controller coefficients through the LMI(Linear Matrix Inequalities) method by which the problem is formulated into a convex optimization problem.