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트랙킹 액추에이터의 진동 억제를 위한 트랙킹 Gain-up 제어기 설계
이문노(Lee, Moonnoh),진경복(Jin, Kyoung Bog) 한국소음진동공학회 2013 한국소음진동공학회 논문집 Vol.23 No.4
This paper presents a tracking gain-up controller design method to control effectively the vibration of tracking actuator caused by external shocks and remaining velocity after seek control. A pole placement constraint is considered to assure a desired transient response against the vibration of tracking actuator. A loop gain-up constraint is introduced to hold the tracking gain-up loop gain and control bandwidth within allowable bounds. The pole placement constraint is expressed by a matrix inequality and the loop gain-up constraint is considered as an objective function so that genetic algorithm can be applied. Finally, a tracking gain-up controller is obtained by integrating a genetic algorithm with LMI design approach. The proposed tracking gain-up controller design method is applied to the track-following system of a DVD recording device and its effectiveness is evaluated through the experimental results.
PSO 알고리즘을 이용한 트랙킹 진동량 추정과 최적 제어기 설계
이문노(Moonnoh Lee) 한국소음진동공학회 2021 한국소음진동공학회 논문집 Vol.31 No.3
This paper presents a method for estimating the vibration quantity and designing a controller using a PSO algorithm for controlling the uncertainties of tracking actuator and disk reflectivity. After estimating the vibration quantity of an actual tracking loop through measurement, the proposed method calibrates the estimated vibration quantity by additionally reflecting the effect of the uncertainties. A minimum tracking loop gain can be appropriately modeled using the estimated vibration quantity. It can be applied to an H<SUB>∞</SUB> objective function to efficiently attenuate the tracking vibration and also to an objective function that prevents the tracking loop gain from becoming larger than necessary. An optimal tracking controller can be designed by minimizing the complementary objective functions using a PSO algorithm. The proposed estimation and design method is applied to a DVD track-following system and verified experimentally.
유전자 알고리즘과 LMI 설계 방법을 이용한 강인 제어기의 설계
이문노(Moonnoh Lee),이홍규(Hong Kyu Lee) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.7
This paper presents a controller design method for a robust control problem with multiple constraints using genetic algorithms and LMI design method. A robust H∞ constraint with loop shaping and pole placement is used to address disturbance attenuation with error limits and desired transient specifications, in spite of the plant uncertainties and disturbances. In addition, a loop gain constraint is considered so as not to enlarge the loop gain unnecessarily. The robust H∞ constraint and pole placement constraint can be expressed in terms of two matrix inequalities and the loop gain constraint can be considered as an objective function so that genetic algorithms can be applied. Accordingly, a robust controller can be obtained by integrating genetic algorithms with LMI approach. The proposed controller design method is applied to a track-following system of an optical disk drive and is evaluated through simulation results.
유전자 알고리듬을 이용한 강인 미동 탐색 제어기의 설계
이문노(Moonnoh Lee),진경복(Kyoung Bog Jin) 한국소음진동공학회 2015 한국소음진동공학회 논문집 Vol.25 No.5
This paper deals with a robust fine seek controller design problem with multiple constraints using a genetic algorithm. A robust H∞ constraint is introduced to attenuate effectively velocity disturbance caused by the eccentric rotation of the disk. A weighting function is optimally selected based on the estimation of velocity disturbance and the estimated minimum velocity loop gain. A robust velocity loop constraint is considered to minimize the variances of the velocity loop gain and bandwidth against the uncertainties of fine actuator. Finally, a robust fine seek controller is obtained by solving a genetic algorithm with an LMI condition and an appropriate objective function. The proposed controller design method is applied to the fine seek control system of a DVD recording device and is evaluated through the experimental results.
엑츄에이터 흔들림 제어를 위한 트랙킹 Gain-Up 제어기 설계
진경복(Kyoung Bog Jin),이문노(Moonnoh Lee) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.10
In this paper, we deal with a tracking gain-up controller design problem to control effectively the shake of tracking actuator after a track seek. A minimum tracking gain-up open-loop gain can be calculated by estimating the shake of tracking actuator and a desired transient specification is considered to diminish effectively the shake of actuator. A tracking gain-up controller is designed by considering a robust H∞ control problem with a regional stability constraint. The proposed tracking gain-up controller design method is applied to the track-following system of a DVD recording device and is evaluated through the experimental results.
구동기 동역학을 가지는 이동 로봇에 대한 FBFN을 이용한 강인 적응 퍼지 추종 제어
신진호(Jin-Ho Shin),김원호(Won-Ho Kim),이문노(Moonnoh Lee) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.4
This paper proposes a robust adaptive fuzzy tracking control scheme for a nonholonomic mobile robot with external disturbances as well as parameter uncertainties in the robot kinematics, the robot dynamics, and the actuator dynamics. In modeling a mobile robot, the actuator dynamics is integrated with the robot kinematics and dynamics so that the actuator input voltages are the control inputs. The presented controller is designed based on a FBFN (Fuzzy Basis Function Network) to approximate an unknown nonlinear dynamic function with the uncertainties, and a robust adaptive input to overcome the uncertainties. When the controller is designed, the different parameters for two actuator models in the actuator dynamics are taken into account. The proposed control scheme does not require the kinematic and dynamic parameters of the robot and actuators accurately. It can also alleviate the input chattering and overcome the unknown friction force. The stability of the closed-loop control system including the kinematic control system is guaranteed by using the Lyapunov stability theory and the presented adaptive laws. The validity and robustness of the proposed control scheme are shown through a computer simulation.