• Title/Summary/Keyword: PTOS

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Design of a Mode Switching Controller for Gun Servo System (포 구동시스템에 대한 모드 스위칭 제어기 설계)

  • Yim Jong-Bin;Baek Seoung-Mun;Lyou Joon
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.5
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    • pp.425-430
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    • 2006
  • To meet an increasing demand for high performance in gun dynamic plant, both a precise and a fast response positioning are strongly required for the gun servo system. A mode switching control(MSC) scheme, which includes a fine stabilizing controller, fast positioning one and a switching function, is widely used to meet this requirement. Stabilization is performed through PID controller, while a time optimal control method is used for target designation. In this paper, a modified PTOS(Proximate Time Optimal Servomechanism) algorithm is derived so as to accommodate the damping term in the gun plant model. Also, applying a mode switching strategy, the bumpless transfer is made possible when the controller switches from PTOS to PID. To show the effectiveness of the overall control system, simulation results are given including the gun dynamics.

Mode Switching Control Design for Gun/Turret Driving System (포/포탑 구동장치의 모드 스위칭 제어기 설계)

  • Baek, Seoung-Mun;Kim, Ji-Young;Yim, Jong-Bin;Lyou, Joon
    • Proceedings of the KIEE Conference
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    • pp.33-37
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    • 2004
  • To meet an increasing demand for high performance in gun dynamic plant, both a precise and a fast response positioning are strongly required for the gun servomechanism control. A mode switching control(MSC) system, which includes a fine stabilizing controller, fast positioning one and a switching function, is widely used to meet this requirement. Stabilization is performed through PID controller, while proximate time optimal servo(PTOS) is used for target designation. Because gun dynamic have large damping comparing to acceleration, PTOS algorithm with damping is newly derived. This paper adopts the initial value compensation method that improve the transient response after switching. Some simulation results are given to show the effectiveness of our scheme.

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Design of Robust High-Speed Motion Controller with Actuator Saturation and Its Application to Precision Positioning System (구동기 포화가 있는 견실 고속 온동 제어기 설계 및 정밀 위치 결정 시스템에의 적용)

  • Park, Hyun-Raek;Kim, Bong-Keun;Shh, Il-Hong;Chung, Wan-Kyun
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.9
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    • pp.768-776
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    • 2000
  • A robust high-speed motion controller is proposed. The proposed controller consists of the proximate time optimal servomechai는 (PTOD) for high-speed motion, disturbance observer (DOB) for robustness, friction compensator, and saturation handling element, In the proposed controller, DOB basically provides the chance to apply PTOS to non-double integrator systems by drastically reducing disturbances as well as unwanted signals due to difference between real system and the double integrator model. But, in DOB-based systems, if control input is saturated due to control input PTOS and/or DOB, overall system stability cannot be guaranteed. To solve this problem, ribust stability, when the control input is saturated. Eventually, a simple saturation handling element is inserted to maintain internal stability of overall system. Also, we explain the our two saturation handling methods, Additional Saturation Element (ASE_ and Self Adjusting Saturation (SAS), are the equivalent solutions of the saturation problem to maintain internal stability. The stability and performance of the proposed controller are verified through numerical simulations and experiments using a precision linear motor system.

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A New Mode Switching Control for Fast Settling and High Precision Positioning (고속 세틀링과 고정밀 위치 제어를 위한 모드 변경 제어 기법)

  • Kim, Jung-Jae;Choi, Young-Man;Kim, Ki-Hyun;Gweon, Dae-Gab;Hong, Dong-Pyo
    • Journal of the Semiconductor & Display Technology
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    • v.5 no.4
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    • pp.1-4
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    • 2006
  • Recently, with rapid development of digital media like semiconductor and large flat panel display, the manufacturing equipment is required to have high precision over large travel range. Moreover it should have high product throughput. To achieve high product throughput, a controller should perform fast point-to-point motion and high precision positioning after settling in spite of external disturbances or residual vibrations. We proposed a new mode switching control algorithm with an application to dual stage for long range and high precision positioning. The proposed algorithm uses a proximate time-optimal servomechanism for the fast settling and a time-delay controller for the high precision positioning. Experimental results show that the proposed method enables smooth mode switching and improves the settling time and the precision accuracy after settling by over than 33% and 45%, respectively.

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Power Conversion System for Electric Power Take-off of Agricultural Electric Vehicle (농업용 전기차량의 전기식 동력인출장치용 전력변환시스템)

  • Kwak, Bongwoo;Kim, Jonghoon
    • Journal of IKEEE
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    • v.23 no.3
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    • pp.994-1002
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    • 2019
  • In this paper, we propose the development of a power conversion system for electric power take-off (e-PTO) of agricultural electric vehicles. Most e-PTOs use commercial power $220V_{AC}$. A bidirectional power conversion system having a two-stage structure consisting of a DC-DC converter and a DC-AC inverter for supplying a high output voltage using a low battery voltage of an agricultural electric vehicle is suitable. we propose a power conversion system consisting of the one-stage dual active bridge (DAB) converter and the two-stage bidirectional full bridge inverter. In addition, we propose a soft start algorithm for reducing the inrush current generated by the link capacitor charging during the initial operation. A 3kW prototype system and its corresponding algorithms have been implemented to verify its effectiveness through experiments.