MR댐퍼 및 Lyapunov제어알고리즘을 이용한 교량 구조물의 실시간 진동제어

허광희,전준용,박승범,오성근 한국구조물진단유지관리공학회 2010 한국구조물진단유지관리공학회 논문집 Vol.14 No.4

본 논문에서는 구조적으로 유연한 특성을 갖는 교량 구조물을 대상으로 외력에 의해 발생되는 진동을 실시간으로 제어하고자 실험적 연구를 수행하였다. 여기서 진동제어를 위한 교량 구조물은 서해대교를 규모화 한 모형 교량 구조물을 사용하였고, 실험실 여건을 고려해 규모화 된 El-centro 지진파형으로 구조물을 가진하였다. 또한, 교량 상판 중앙지점에는 전자석이 채용된 전단형 MR 댐퍼를 설치하여 발생된 진동을 제어하도록 하였고, 동시에 변위계 및 가속도계를 설치하여 구조물의 응답(변위, 가속도)을 획득하였다. 이때 진동제어의 실험은 크게 비-제어, 수동 on/off 제어, 그리고 Lyapunov 안정도 이론에 의한 실시간 피드백 진동제어방법을 이용하여 수행하였고, 이때 진동제어의 효과는 상판 중앙지점에 대하여 비-제어 시 기준 각 실험방법 별 절대최대변위와 절대최대가속도 그리고, 인가전압의 소모량으로 평가하였다. 진동제어실험의 결과로부터, Lyapunov 제어방법은 구조물의 발생 변위 및 가속도를 효과적으로 감소시켰으며, 특히 진동제어 시 요구되는 외부 인가전압의 소비를 크게 감소시킬 수 있음을 확인하였다. 최종적으로, 본 논문에서 구성한 실시간 준능동 피드백 진동제어 시스템은 구조물에 발생된 진동을 제어․관리하기 위한 적극․ 효율적인 방법으로 활용될 수 있는 가능성을 제시하였다. This paper is concerned with an experimental research to random vibration control caused by external loads specially in bridges which tend to be structurally flexible. Experimenting on a reduced structure modelled on Seohae Grand Bridge, we inflicted a reduced form of El-centro wave on the model structure to a proper proportion. On the center of its middle span, we placed a shear type MR damper which was to control its vibration and also acquire its structural responses such as displacement and acceleration at the same site. The experiments concerning controlling vibration were performed according to a variety of theories including un-control, passive on/off control, and Lyapunov stability theory. Its control performance was evaluated in terms of the peak absolute displacements, the peak absolute accelerations and the total power required to control the bridge which differ from each different experiment method. Among all the methods applied in this paper, case of Lyapunov control method turned out to be the most effective to reduces of displacement and acceleration. Also, this method could to decrease consuming of external power for vibration control. Finally, it was noteworthy that Lyapunov control method was specially effective in the vibration control employing a semi-active damper such MR damper.

지구-화성 간 궤도전이 문제에서 θ-D 준 최적제어 알고리즘의 A(x)행렬 분해

조동현 ( Cho Dong Hyun ),이상현 ( Lee Sang Hyun ) 공군사관학교 2018 군사과학논집 Vol.69 No.1

본 논문에서는 θ-D 알고리즘 적용 시 비선형 함수를 선형시스템 형태로 바꾸면서, A(x)행렬을 어떻게 표현하는 것이 최적해에 근접한 수렴해를 얻을 수 있는지를 분석하였다. 분석을 위해 지구-화성 간 궤도전이 최적제어 문제에 4가지 형태로 표현된 A(x) 행렬을 θ-D 알고리즘을 적용하여 수치해석을 수행하였다. 결과적으로 θ-D 알고리즘은 리야프노프 함수를 기반으로 해를 구하는 방식이기 때문에, 최고차항과 동일한 계수를 유지하면서 제어이득 행렬과 유사한 형태인 대칭행렬 또는 교대 대칭행렬 형태로 표현하는 것이 최적해에 근접한 수렴 값을 얻을 수 있음을 확인하였다. 또한, 본 논문의 후반부에는 최고차항과 동일한 계수를 유지하면서도 대칭행렬 또는 교대 대칭 행렬 형태로 A(x)행렬을 분해하는 방법을 제시하고 성능을 비교, 검증하였다. This paper presents how to express the A(x) matrix to transform a nonlinear function into a linear system form when applying the θ-D algorithm. For the analysis, the θ-D algorithm was performed by applying the A(x) matrix expressed in four different forms to the orbit transfer optimal control problem between the Earth and Mars. As a result, since the θ-D algorithm is a method for obtaining a solution based on the Lyapunov function, it is confirmed that convergence value close to the optimal solution can be obtained by expressing the symmetric matrix or the skew symmetric matrix form for maintaining the full rank. In this paper, it is proposed a method of factorizing the A₀, A(x) matrix formed symmetric matrix or skew symmetric matrix while maintaining the full rank.

지구-화성 간 궤도전이 문제에서 θ-D 준 최적제어 알고리즘의 A(x)행렬 분해

조동현 ( Cho Dong Hyun ),이상현 ( Lee Sang Hyun ) 공군사관학교 2018 空士論文集 Vol.69 No.1

This paper presents how to express the A(x) matrix to transform a nonlinear function into a linear system form when applying the θ-D algorithm. For the analysis, the θ-D algorithm was performed by applying the A(x) matrix expressed in four different forms to the orbit transfer optimal control problem between the Earth and Mars. As a result, since the θ-D algorithm is a method for obtaining a solution based on the Lyapunov function, it is confirmed that convergence value close to the optimal solution can be obtained by expressing the symmetric matrix or the skew symmetric matrix form for maintaining the full rank. In this paper, it is proposed a method of factorizing the A₀, A(x) matrix formed symmetric matrix or skew symmetric matrix while maintaining the full rank.

Optimal type II fuzzy neural network controller for Eight-Rotor MAV

Xiangjian CHEN,Di Li,Xi-Bei Yang,Yuecheng Yu 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4

This paper focuses on modeling and intelligent control of the new eight-rotor MAV which is used to solvethe problem of low coefficient proportion between lift and gravity for QuadrotorMAV. The dynamic and kinematicalmodeling for the eight-rotor MAV.Neuro-Fuzzy adaptive controller is proposed which is composed of two type-IIfuzzy neural networks (T-IIFNNs) and one PD controller: The PD controller is adopted to control the attitude, oneof the T-IIFNNs is designed to learn the inverse model of eight-rotor MAV on-line, the other one is the copy of theformer one to compensate for model errors and external disturbances, both structure and parameters of T-IIFNNs aretuned on-line at the same time, and then the stability of the eight-rotor MAV closed-loop control system is provedusing Lyapunov stability theory. Meanwhile ,in order to reduce the computation work, the type-reduction andmodel construction process have been improved. For the issue of type reduction, a novel improved EKM algorithmis developed for improving the EKM algorithm. The proposed algorithm provides two improvements on the EKMalgorithm. For the issue of rules redundant, the concept of normalized difference is proposed to describe the changeof adjacent singular value so as to reflect the essential differences between redundant rules and important rules. Then the number of effective singular can be determined according to its critical point, and the type-2 fuzzy modelis constructed with rules located by TLS decomposition. Finally, the validity of the proposed control method hasbeen verified through real-time experiments. The experimental results show that the performance of Neuro-Fuzzyadaptive controller performs very well under sensor noise and external disturbances.

Air Pollution Reduction Based on Intelligent Nonlinear Control Methodology

Yaser Barmayeh,Mehran Afshar,Mohammad Sadegh Dahideh,Mohammad Najafi,Ali Reza Zarei 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.1

This paper expands a Multi Input Multi Output (MIMO) fuzzy baseline control (FBC) which controller coefficient is off-line tuned by gradient descent algorithm. The main goal is to adjust the optimal value for fuel ratio (FR) in motor engine. The fuzzy inference system in proposed methodology is works based on Mamdani-Lyapunov fuzzy inference system (FIS). To reduce dependence on the gain updating factor coefficients of the fuzzy methodology, PID baseline method is introduced. This new method provides an optimal setting for other factors which created by PID baseline method. The gradient descent methodology is off-line tune all coefficients of baseline fuzzy based on mathematical optimization methodology. Simulation results signify good performance of fuel ratio in presence of different torque load and external disturbance.

Stochastic intelligent GA controller design for active TMD shear building

Z.Y. Chen,Sheng-Hsiang Peng,Ruei-Yuan Wang,Yahui Meng,Qiuli Fu,Timothy Chen 국제구조공학회 2022 Structural Engineering and Mechanics, An Int'l Jou Vol.81 No.1

The problem of optimal stochastic GA control of the system with uncertain parameters and unsure noise covariates is studied. First, without knowing the explicit form of the dynamic system, the open-loop determinism problem with path optimization is solved. Next, Gaussian linear quadratic controllers (LQG) are designed for linear systems that depend on the nominal path. A robust genetic neural network (NN) fuzzy controller is synthesized, which consists of a Kalman filter and an optimal controller to assure the asymptotic stability of the discrete control system. A simulation is performed to prove the suitability and performance of the recommended algorithm. The results indicated that the recommended method is a feasible method to improve the performance of active tuned mass damper (ATMD) shear buildings under random earthquake disturbances.

Lyapunov 알고리즘을 이용한 교량구조물의 무선 진동제어

허광희,김충길,전승곤,안의종,이진옥 한국구조물진단유지관리학회 2011 한국구조물진단학회 학술발표회논문집 Vol.2011 No.9

In order to keep in control the long and large bridges whose vibration by external loads is fatal to their own structure, the adoption of wired system for vibration control entails some problems such as high initial set-up cost and onerous maintenance. This paper attempts to solve the problems by developing a TCP/IP based wireless vibration-control system which fits better outdoors and also by applying Lyapunov algorithm which has been proven to work well for semi-active control system. The performance of the Lyapunov -algorithm-applied wireless vibration-control system was evaluated through experiments with a model structure and a semi-active control device both of which were designed for this particular research. The experiments proved the wireless vibration-control system developed here was effective.

Application of Unified Lyapunov Control Algorithm and Mathematical Demonstration for Structure Control

허광희,전준용 대한토목학회 2011 KSCE JOURNAL OF CIVIL ENGINEERING Vol.15 No.3

This paper presents a new algorithm which is applicable in designing a smart damping system for vibration mitigation. The algorithm, which is extended into a unified system from Lyapunov stability theory, enables us to decrease the errors by its increased stability. The validity of this design method was proved in the experiment on a control model of three-storied building structure. Smart damper was used for MR (Magneto-Rheological fluid) damper in the experiment, and its control effectiveness was evaluated. In order to make a more accurate control model mathematically, we updated the model on the basis of the analysis of dynamic characteristics of structure and of the mathematical analysis of a lumped mass model, and then employed a state space model redefined by structural property matrix. Using this improved control model, control effect on structures that were under the influence of each different earthquake magnitude was analyzed with various performance indexes, and thus the algorithm presented here is proved to be valid.

Lyapunov 알고리즘을 이용한 교량구조물의 무선 진동제어

허광희 ( Heo Gwanghee ),김충길 ( Kim Chunggil ),전승곤 ( Jeon Seunggon ),안의종 ( Ahn Uijong ),이진옥 ( Lee Chinok ) 한국구조물진단유지관리공학회 2011 한국구조물진단유지관리공학회 학술발표대회 논문집 Vol.15 No.2

Adaptive Wavenet Controller Design for Teleoperation Systems with Variable Time Delays using Singular Perturbation Method

Soheil Ganjefar 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.3

The main goal of controller design in teleoperation systems is to achieve stability and optimal operation in presence of factors such as time delays, system disturbances and modeling errors. This paper proposes a new method of controller design based on wavenet with singular perturbation method for the bilateral teleoperation of robots through the internet. The wavenet controller could overcome the variable time delay in teleoperation system. This new method introduces a reduced-order structure for control and stability of teleoperation systems. By using singular perturbation method, teleoperation system is decomposed into two fast and slow subsystems. This method is a step towards reduced-order modeling. In this method, we use a feedback linearization method in master subsystem and a wavenet controller for slave subsystem. In wavenet controller, we used a learning method so that the system was Lyapunov stable. As the stability of the model is highly dependent on the learning of the system, we use Lyapunov stability in this method. It has been tried to reduce the tracking error between the master and the slave subsystems. In this structure the position of master-slave are compared together and controlling signal is applied to the slave so that they can track each other in the least possible time. In all schemes the effectiveness of the system is shown through the simulations and they have been compared with each other.