• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.20 no.4
• /
• pp.517-522
• /
• 2019

This paper proposes a new motor parameter estimation method. Because the proposed method is based on difference equations, it does not affect the error in the voltage magnitude so called dead-time effect. Information on the motor constant may be needed to improve the motor control performance. For example, a control technique called DTC (Direct Torque Control) requires a motor constant when calculating the torque and flux magnitude. As another example, in the case of predictive control, information on the motor parameters is required to generate voltage references. Because the constant of the motor fluctuates according to the driving environment, it is essential to estimate the correct motor constant because the control performance is degraded when incorrect motor information is used. In the proposed scheme, the motor constant estimated based on the voltage difference equation is obtained using the RLS (Recursive Least Square) technique. The RLS algorithm is applied to obtain the value through an iterative calculation so that the estimation performance is robust to noise. The simulation results carried out with surface mounted permanent magnet motors confirmed the validity of the proposed method.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.25 no.8
• /
• pp.1060-1066
• /
• 2021

Recently, researches for quantum computers have been carried out in various fields. Quantum computers performs calculations by utilizing various phenomena and characteristics of quantum mechanics such as quantum entanglement and quantum superposition, thus it is a very complex calculation process compared to classical computers used in the past. In order to simulate a quantum computer, many factors and parameters of a quantum computer need to be analyzed, for example, error verification, optimization, and reliability verification. Therefore, it is necessary to visualize circuits that can intuitively simulate the configuration of the quantum computer components. In this paper, we present a novel visualization method for designing complex quantum computer system, and attempt to create a 3D visualization toolkit to deploy large circuits, provide help a new way to design large-scale quantum computing systems that can be built into future computing systems.

• Journal of Aerospace System Engineering
• /
• v.16 no.3
• /
• pp.93-98
• /
• 2022

The purpose of this paper was to propose a method for improving the performance of the open-loop control of single-phase permanent magnet synchronous motor (SP-PMSM), based on a square wave voltage injection. Generally, the SP-PMSM driving systems cmprise a full-bridge inverter and asymmetric air-gap structure of magnetic circuit, because a zero torque occurs on the symmetrical air-gap. As a result, it cannot be started at a specific rotor position. Thus, it is possible to cause the start-up failure at an open-loop control for sensorless operation of SP-PMSM. In this paper, the method with square wave voltage injection considering the nonlinearity of the inverter is presented to resolve the problem. The effectiveness of the proposed algorithm is verified through several experiments.

• Journal of IKEEE
• /
• v.26 no.2
• /
• pp.265-270
• /
• 2022

This paper proposes the detection algorithm for switch open fault of asymmetric 6-phase PMSM based on stationary reference frame dq-axis currents. In this paper, target motor has an asymmetric structure in which two upper three windings have an electrical phase difference of 30° and a neutral point is separated. As a result, dual 3-phase PWM inverters and the detection techniques due to open failures of switch are definitely required. In this paper, the dual dq-axis current control method is used for driving the asymmetric 6-phase PMSM and the open fault switch should be detected by using variable all pass filter and low pass filter in order to detect the current amplitude. The effectiveness and usefulness of the proposed method is verified by several experiments.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.17 no.5
• /
• pp.841-852
• /
• 2022

In this paper, a 3-phase inverter output waveform generator based on SPWM control was developed to verify the performance of the LCL filter. In order to obtain a test signal for verifying the performance of the filter, first, a DSP-based 3-phase SPWM signal generation algorithm was developed, and then a three-phase voltage source inverter circuit was designed using three half-bridge gate drivers. Next, one LCL filter was experimentally fabricated to verify the effectiveness of the developed SPWM-based 3-phase inverter output waveform generator as a test signal generator, and a DSP-based performance verification system was experimentally constructed. Finally, by comparing the three-phase voltage waveform before and after the LCL filter obtained in the output control experiment with the given time ratio, the effectiveness of the SPWM-based 3-phase inverter output waveform generator was verified.

• Journal of IKEEE
• /
• v.26 no.4
• /
• pp.602-613
• /
• 2022

This paper proposes an algorithm for correcting indirect situations resulting from the wheelchair moving the stairs with wheel-type caterpillar and seat position variable. For analyzing the Yawing movement model, the change of Yaw value was estimated using Roll, Pitch, and Yaw in the driving environment, and it was used as a control variable and the information of the wheel drive controller. The verification confirmed the correction of about 10° of Yawing movement within about 7 seconds. It was confirmed that the angular velocity was reduced by 47.5% in seat position change.

• The Journal of Korea Robotics Society
• /
• v.18 no.3
• /
• pp.251-259
• /
• 2023

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2023.05a
• /
• pp.458-458
• /
• 2023

본 연구에서는 위성영상 활용 지능형 재난관측·감시 기술 개발을 목적으로 위성영상과 멀티소스(CCTV, 항공영상, 공공DB 등)와의 연계·융합을 통해 재난상황관리의 정확도 향상과 위성영상 활용성 제고 방안을 제시하고자 하였다. 위성영상 수집·배포시스템으로부터 전달되는 위성영상과 멀티소스의 연계 융합을 통한 재난상황정보의 표출을 목적으로 상황판연계 표출시스템 가동 절차와 위성영상 수집을 통한 위험탐지 알고리즘과의 연계를 위해 재난상황업무 기반 시스템 가동절차를 수립하고, 위기관리표준 매뉴얼 상 상황업무절차를 적용해 예비설계를 진행하였다. 상황실 실무자 설문을 통해 작성된 시스템 요구사항과 규격서를 기반으로 상황업무절차를 적용해 먼저업무시스템 설계를 진행하였다. 평시에는 GIS통합상황판에서 관리됨을 전제로 위성영상 수집에 대한국가적 예산 투입 측면을 고려해 중대본 설치가 필요한 대형재난 발생상황을 가정하여 상황판연계·표출시스템의 가동되도록 설계하였다. 또한, 위성영상 분석을 통한 피해위험도와 재난이력통계 등 멀티소스와 중첩한 결과를 실시간으로 표출함에 따라 상황실근무자는 재난확산 여부를 판단하고, NDMS를 통해 재난상황을 전파할 수 있도록 설계하였다. 상황판연계 표출시스템의 원활한 데이터 입/출력을 위해 재난유형 및 분석단계별 클래스 정의, 유스케이스 ID(요구기능)와 1:1 또는 1:n매칭을 수행하여 재난유형 및 분석단계별 클래스를 정의하였다. 정의된 클래스는 유스케이스인 요구기능과 매칭을 수행하였고, 시스템 가동절차 중 피해위험도분석, 재난이력통계, 중첩결과표출, NDMS 상황전파에 대한 상황업무절차를 기반으로 산불·홍수·산사태·대설·태풍 총 5종의재난별 시퀀스를 설계하였다. 마지막으로 화면정의서와 UI/UX설계서를 기반으로 Figma를 통해 시스템구동화면을 사전에 모의하였다. 향후, 진행되는 연구에서는 위성영상과 멀티소스를 연계한 화면을 실체화하여 더욱 정확한 재난상황관리가 가능하도록 NDMS 연계 상황판 표출 시스템을 개발하고자 한다.

• Journal of the Society of Naval Architects of Korea
• /
• v.60 no.3
• /
• pp.165-174
• /
• 2023

Unmanned Surface Vehicle (USV)'s berthing and unberthing is the most difficult maneuvering tasks and have the highest risk of accidents. In this paper, we designed a berthing/unberthing control algorithm given human joystick command for an USV equipped with a waterjet and a bow thruster. The berthing and unberthing maneuvers are performed remotely by a joystick operator at the Ground Control Center (GCC) where the status of USV and environmental situation can be monitored. We interpret the human joystick commands into USV's desired speed, yaw rate, and heading angle commands. next, we developed a control algorithm for the desired target values of MIMO actuators (engine speed, bucket step, nozzle angle, and bow thruster state) to follow the interpreted commands. The validity of the control algorithm is confirmed through simulations and sea trials at Gwang Am port.

• Journal of Korean Society of Disaster and Security
• /
• v.16 no.3
• /
• pp.45-56
• /
• 2023

In this study, the application of ANC (Active Noise Control) technology to address inter-floor noise was explored. To achieve this, an ANC system was developed to manage the heavy impact sound within the frequency range of 40 to 500 Hz. The ANC system utilized an adaptive filter employing a feedforward approach based on the Fx-LMS algorithm. To set up the ANC system, a comprehensive analysis of various variables within the system was performed using computational simulations. This process enabled the identification of optimal filter settings and system configuration arrangements. In addition, the ANC system was implemented in the inter-floor noise test room at the Korea Conformity Laboratories (KCL). Through a certified standard testing procedure, it was confirmed that the ANC system led to a 4 dB reduction in inter-floor noise when the system was activated compared to when it was turned off. The results of this study indicate that the developed ANC system has an effect significant enough to elevate the rating criteria by one level for heavy impact sound.