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이문노(Lee, Moon-Noh),진경복(Jin, Kyoung-Bog) 한국소음진동공학회 2010 한국소음진동공학회 논문집 Vol.20 No.3
In this paper, we provide a robust track-following controller design method for the stable coarse seek control. Due to the inaccurate velocity control during a coarse seek, the shake of fine actuator is generated and thus a gain-up track-following control is required to complete stably the coarse seek. To this end, a loop gain adjustment algorithm is introduced to estimate accurately the shake of fine actuator. A weighting function can be properly selected from a minimum tracking gain-up open-loop gain, calculated from the estimated shake quantity of fine actuator. A robust tracking gain-up controller is designed by considering a robust $H_{\infty}$ control problem using the weighting function. The proposed design method is applied to the coarse seek control system of an optical rewritable drive and is evaluated through the experimental results.
속도 성분의 진동 외란이 있는 미동 탐색 제어 시스템의 강인 제어기 설계 방법
이문노(Lee, Moon-Noh),신진호(Shin, Jin-Ho),김성우(Kim, Seong-Woo) 한국소음진동공학회 2007 한국소음진동공학회 논문집 Vol.17 No.9
This paper present a robust controller design method based on the estimation of velocity disturbance to construct a robust fine seek control system. A loop gain adjustment algorithm is introduced to accurately estimate the velocity disturbance in spite of the uncertainties of fine actuator. A weighting function is optimally selected from a minimum fine seek open-loop gain, calculated by estimating the velocity disturbance. A robust fine seek controller is designed by considering a robust $H_{\infty}$ control problem using the weighting function. The proposed controller design method is applied to the fine seek control system of a DVD rewritable drive and is evaluated through the experimental results.
유전자 알고리즘을 이용한 다중 제한 조건을 만족하는 강인 트랙 추종 제어
이문노(Lee, Moon-Noh),이홍규(Lee, Hong-Kyu),진경복(Jin, Kyoung-Bog) 한국소음진동공학회 2012 한국소음진동공학회 논문집 Vol.22 No.3
This paper presents a design method of a robust tracking controller satisfying multiple constraints using genetic algorithm. A robust $H_{\infty}$ constraint with loop shaping is used to address disturbance attenuation with error limits and a loop gain constraint is considered so as not to enlarge the tracking loop gain and bandwidth unnecessarily. The robust $H_{\infty}$ constraint is expressed by a matrix inequality and the loop gain constraint is considered as an objective function so that genetic algorithm can be applied. Finally, a robust tracking controller can be obtained by integrating genetic algorithm with LMI approach. The proposed tracking controller design method is applied to the track-following system of an optical DVD recording drive and is evaluated through the experimental results.
병렬형 모션 시뮬레이터의 기구학적 해석과 강인 궤적추종 PID 제어기의 설계
홍성일,Hong, Seong-Il 한국군사과학기술학회 2007 한국군사과학기술학회지 Vol.10 No.3
This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.