• The Transactions of the Korean Institute of Power Electronics
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• v.3 no.4
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• pp.399-406
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• 1998

This paper proposes an instantaneous torque control method for the high performance SRM drive. In first, we e establish SRM model with the characte1istics of the torque. phase current and rotor position which were measured in t the experimental SRM. Based on this model. the reference torque waveform to minimize torque ripple is obtained by t the control of resultant torque considering phase torque overlap according to the variation of load and speed. And the r reference current waveform for the tracking of reference torque are decided. The control method for tracking the r reference current is used the delta modulation technique. The proposed method is validated by the comparing with S simulation and experimental results.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.2
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• pp.1-7
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• 2000

In this paper, an adaptive control law for nonlinear systems represented by input-output models are proposed under the assumption that unknown system parameters are in a known compact and convex set. Contrary to the previous results, the compact and convex set is not restricted to a ball whose center is at the origin or convex hypercube. It is proven that the proposed parameter update rule produces a sequence of parameters which reside in the set and guarantees that the position, velocity, and acceleration error converges to zero as time goes to infinity. This theoretical result was justified through simulations.

• Proceedings of the Korea Water Resources Association Conference
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• 2023.05a
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• pp.143-143
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• 2023

최근 대청댐('17), 평림댐('19) 등 광역 취수원에서 망간의 먹는 물 수질기준(0.05mg/L 이하) 초과 사례가 발생되어, 다수의 민원이 제기되는 등 취수원의 망간 관리 중요성이 부각되고 있다. 특히, 동절기 전도(Turn-over)시기에 고농도 망간이 발생되는 경우가 많은데, 현재 정수장에서는 망간을 처리하기 위해 유입구간에 필터를 설치하고 주기적으로 교체하는 방식으로 처리하고 있다. 그러나 단기간에 고농도 망간 다량 유입 시 처리용량의 한계 등 정수장에서의 공정관리가 어려워지므로 사전 예측에 의한 대응 체계 고도화가 필요한 실정이다. 본 연구는 광역취수원인 주암댐을 대상으로 망간 예측의 정확도 향상 및 예측기간 확대를 위해 다양한 머신러닝 기법들을 적용하여 비교 분석하였으며, 독립변수 및 초매개변수 최적화를 진행하여 모형의 정확도를 개선하였다. 머신러닝 모형은 수심별 탁도, 저수위, pH, 수온, 전기전도도, DO, 클로로필-a, 기상, 수문 자료 등의 독립변수와 화순정수장에 유입된 망간 농도를 종속변수로 각 변수에 해당하는 실측치를 학습데이터로 사용하였다. 그리고 데이터기반 모형의 정확도를 개선하기 위해서 성층의 수준을 판별하는 지표로서 PEA(Potential Energy Anomaly)를 도입하여 데이터 분석에 활용하고자 하였다. 분석 결과, 망간 유입률은 계절 주기에 따라 농도가 달라지는 것을 확인하였고 동절기 전도시점과 하절기 장마기간 난류생성 시기에 저층의 고농도 망간이 유입이 되는 것을 분석하였다. 또한, 두 시기의 망간 농도의 변화 패턴이 상이하므로 예측 모델은 각 계절별로 구축해 학습을 진행함으로써 예측의 정확도를 향상할 수 있었다. 다양한 머신러닝 모델을 구축하여 성능 비교를 진행한 결과, 동절기에는 Gradient Boosting Machine, 하절기에는 eXtreme Gradient Boosting의 기법이 우수하여 추론 모델로 활용하고자 하였다. 선정 모델을 통한 단기 수질예측 결과, 전도현상 발생 시기에 대한 추종 및 예측력이 기존의 데이터 모형만 적용했을 경우대비 약 15% 이상 예측 효율이 향상된 것으로 나타났다. 본 연구는 머신러닝 모델을 활용한 망간 농도 예측으로 정수장의 신속한 대응 체계 마련을 지원하고, 수처리 공정의 효율성을 높이는 데 기여할 것으로 기대되며, 후속 연구로 과거 시계열 자료 활용 및 물리모형과의 연결 등을 통해 모델의 신뢰성을 제고 할 계획이다.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.463-477
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• 1991

This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.

• Journal of the Korea Institute of Military Science and Technology
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• v.27 no.4
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• pp.495-506
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• 2024

In this study, we propose the terrain following algorithm using model predictive control and nonlinear disturbance observer-based backstepping sliding mode controller for an aircraft system. Terrain following is important for military missions because it helps the aircraft avoid detection by the enemy radar. The model predictive control is used to replace the generating trajectory and guidance with the flight path angle constraint. In addition, the aircraft is affected to the parameter uncertainty and unknown disturbance such as wind near the mountainous terrain. Therefore, we suggest the nonlinear disturbance-based backstepping sliding mode control method for the aircraft that has highly nonlinearity to enhance flight path angle tracking performance. Through the numerical simulation, the proposed method showed the better tracking performance than the traditional backstepping method. Furthermore, the proposed method presented the terrain following maneuver maintaining the desired altitude.

• Journal of the Earthquake Engineering Society of Korea
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• v.8 no.4
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• pp.63-69
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• 2004

In this paper, a nonlinear modeling of lead rubber bearings(LRBs) was presented by a neural network theory. An shaking table test for a scaled frame model, of which base was isolated by the LRBs, was performed to verify numerical accuracies of the neural network model. White noise and three types of seismic records were adoped as base loads of the shaking table in order to train and generalize the neural network in case of seismic loads, numerical results of the neural network model were evaluated according to different magnitudes of PGA. As results, it is concluded that the presented neural network model has given a good agreement with the experimental data in details and can be useful to a nonlinear modeling of LRBs within prescribed domains.

• The Journal of the Convergence on Culture Technology
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• v.9 no.6
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• pp.957-966
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• 2023

In this paper, we propose a new real-time adaptive PID temperature control technique. This is a technique that prevents overshoot by introducing a model that represents the control object. To prevent excessive integration that causes overshoot, integral control adjusts the integral gain to track the heat loss of the model in real time. In the conventional PID control, the integration was dependent on proportional control and the gain was fixed to a constant. As a result, applying two gains that mismatch each other could cause excessive overshoot. However, the proposed adaptive control actively eliminates overshoot so that the integral control amount does not always exceed the heat loss. The cause of overshoot in PID control is integration. Basically, proportional control does not cause overshoot. Therefore, according to the proposed technique, adaptive PID control without the need for tuning experiments can be realized.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2013.06a
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• pp.17-20
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• 2013

Many researches have been conducted in the field of constructing controllers for ships over 20 years. But still, ship automatic track-keeping controllers has not been designed for ship's automatic berthing as they considered nearly constant ship's speed. This study dealt with this problem to design track-keeping control on ship's model of SAE NURI using nonlinear mathematical expression. By using this control, the ship is auto track-kept in fare-way at reducing speed to anchorage place. The simulation results proved that this control can be adapted in ship's auto berthing in near future.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.1
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• pp.6-13
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• 2002

This paper deals with the linear matrix inequality (LMI) design procedures for multi-objective Η$_2$/Η$_{\infty}$ controllers with pole-placement constraints for an inverted pendulum system modeled as convex polytopes to ensure the stabilizing regulator and tracking performances. Polytopic models with multiple linear time-invariant models linearized at some operating points are derived to design controllers overcoming the conservativeness such as a controller may have when it is designed for a model linearized at a single operating point. Multi-objective controllers are designed for polytopic models by the LMT design technique with convex algorithms. It is observed that the inverted pendulum controlled by any controller designed for each polytopic model is stabilizingly restored to the vertical angle position for initial values of larger tilt anlges.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.270-273
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• 1996

A scheme of observer-based MFAC(Model Following Acceleration Control) system is proposed for the robustness control of DC servo position control systems. The proposed system is composed of LMFC, variable structure feedback controller, and reduced-order state observer. As the servo motor is controlled by the acceleration command, the total servo system becomes the acceleration control system. Simulation results show that the proposed system have robust properties against parameter variations and external disturbances.