• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.526-527
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• 2010

본 논문에서는 슬라이딩 모드 관측기를 이용하여 IPMSM(Interior Permanent Magnet Synchronous Motor)의 센서리스 제어의 기동특성에 관한 연구를 수행하였다. IPMSM의 센서리스 제어는 초기 구동시 회전자의 위치를 알 수가 없으므로 Open-Loop알고리즘을 이용하여 강제로 모터를 구동시킨다. 그러므로 Open-Loop에서 Closed-Loop로 제어되는 시점에서 부하의 상태에 따라 기동 특성에 문제점을 야기 시킬 수 있다. 본 논문에서는 부하에 따라 기동 특성에서 야기되는 문제점과 해결책을 제시한다. 제시된 방법을 시뮬레이션을 통해 검증한다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.323-329
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• 1994

In the systems such as walking robots or high speed operating manipulators, the effect of nonlinear terms is important and can not be neglected. Therefore the application of linear control law to such systems is inadequate. Moreover, because of the mathematical modeling errors the systems may become unstable. In this study, we designed a nonlinear controller with sliding mode scheme, which is robust to the modeling errors and applied this control algorithm to the 5 DOF biped robot system. Throught the computer simulations, we examined walking characteris and walking stability of the 5 DOF biped robot system.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.2
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• pp.92-101
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• 2000

The objective of this paper is to design the controller for longitudinal vehicle following which makes the vehicle follow the lead vehicle and keeps a safety distance without human driver operation. This paper presents a sliding mode control algorithm for the ACC system. The controller is based on three sliding surfaces. Each surface plays an individual control-deviation control, throttle control and brake control. In addition to sliding mode control, we propose some additional schemes to enhance controller performance. The first one is a gear shift-down controller which makes tractive force increase with a change of gear ratio. The other is a predictive correction method which reduces slinky effect.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1587-1588
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• 2007

IPM(Interior Permanent Magnet) Machine의 전류 제어는 자기저항에 의존하는 토크특성 때문에 SPM(Surface Permanent Ma- gnet) Machine보다 복잡하다. 고성능 토크제어를 위해서는 d축 전류와 q축 전류의 동특성간의 상태 decoupling이 요구된다. 그러나 전류의 상태 동특성이 coupling된 인덕턴스의 변화(온도, 파라미터들의 부정확한 측정값)는 상태 decoupling을 어렵게 한다. 그래서 이러한 변화와 각각의 전류가 독립적으로 제어될 수 있게 여러 decoupling 방법들에 초점이 맞춰지고있다. 본 연구는 외란에 강하고, 특히 인덕턴스의 변화와 상관없는 이상적인 토크제어를 하기 위해 신경회로망을 이용하여 슬라이딩 평면(sliding surface)을 구성하고, SMC(Sliding Mode Control)를 이용하여 상태 cross-coupling의 decoupling을 위한 새로운 접근을 제안한다. 이 방법은 PI제어 성능과 SMC의 강인성을 알고리즘을 이용하여 결합한 것이라고 볼 수도 있다.

• Journal of the Korean Institute of Intelligent Systems
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• v.6 no.2
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• pp.3-12
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• 1996

Sliding mode controller(SMC) is a simple but powerful nonlinear controller, because it guarantees the stability and the robustness. However, it leads to the high frequency chattering of the control input. Although the phenomenon can be avoided by introducing a thin boundary layer to the sliding surface, the method results in a steady state: error proportional to the boundary layer thickness. In this paper, we proposed a new sliding mode controller with self-tuning the thickness of a boundary layer. It uses a fuzzy rule base for tuning the thickness of a boundary layer. That is, the thickness is increased to some degree to reject a discontinuous control input at the initial state and then it is decreased as the states approaches to the steady states for improving the tracking performance. In order to assure the control performance, we perf'ormed the computer simulation using an inverted pendulum system as a controlled plant.

• Journal of IKEEE
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• v.8 no.1 s.14
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• pp.96-107
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• 2004

In this paper, a new integral variable structure regulation controller(IVSRC) is designed by using a special integral sliding surface and a disturbance observer for the improved regulation control of highly nonlinear robot manipulators with prescribed output performance. The sliding surface having the integral state with a special initial condition is employed in this paper to exactly predetermine the ideal sliding trajectory from a given initial condition to origin without any reaching phase. And a continuous sliding mode input using the disturbance observer is also introduced in oder to effectively follow the predetermined sliding trajectory within the prescribed accuracy without large computation burden. The performance of the prescribed tracking accuracy to the predetermined sliding trajectory is clearly investigated in detail through the two theorems together with the closed loop stability. The design of the proposed IVSRC is separated into the performance design and robustness design in each independent link. The usefulness of the algorithm has been demonstrated through simulation studies on the regulation control of a two link manipulator under parameter uncertainties and payload variations, in view of no reaching phase, no overshoot, predetermined response with prescribed accuracy, easy change of output performance, separation of design phase, and so on.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.5
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• pp.868-874
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• 2007

A real-time frame-layer rate control algorithm with a token bucket traffic shaper is proposed for minimizing video duality variation. The proposed rate control method uses a non-iterative optimization method for low computational complexity, and performs bit allocation at the frame level to minimize variation in distortion between frames. In order to reduce the quality fluctuation, we use a sliding window scheme which does not require the pre-analysis process. Therefore, the proposed algorithm does not produce the delay from encoding, and is suitable for real-time low-complexity video encoder. Experimental results indicate that the proposed control method provides better PSNR performance than the existing rate control method.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.211_212
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• 2009

부하 모델링이 전력계통의 해석과 제어에 미치는 영향력은 매우 크다. 정확한 부하모델링을 위해 최근에는 측정기반의 부하 모델링이 많이 연구되고 있다. 부하모델링 알고리즘은 먼저 모델의 구조를 정하고, 그 모델에 적합한 파라미터를 산정하는 작업으로 이루어진다. 파라미터 산정에는 최소자승법이 사용되었다. 이 최적화 과정에서 알고리즘을 통해 나온 계산값과 측정값의 차이가 최소가 되도록 파라미터를 산정하였다. 슬라이딩 윈도우(sliding window)의 개념을 도입해, 실시간으로 변화하는 부하의 동특성을 반영할 수 있는 온라인 부하모델링을 수행하였다. 실측 데이터의 취득을 위해 학교 부하에 PMU를 설치하였다. 본 논문에서는 사례 연구를 위해 실시간 시뮬레이터의 데이터를 이용하였고, 정적 ZIP 모델을 통해 알고리즘의 정확성을 검토하였다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.06a
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• pp.175-178
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• 2007

According to recently presented QoS architecture by 3GPP, a traffic conditioner may be deployed to provide conformance of the negotiated QoS. A real-time frame-layer rate control method which can be applied to the traffic conditioner is proposed. The proposed rate control method uses a non-iterative optimization method for low computational complexity, and performs bit allocation at the frame level to minimize the average distortion over an entire sequence as well as variations in distortion between frames. The proposed algorithm does not produce time delay from encoding, and is suitable for real-time low-complexity video encoder.

• Journal of the Korea Society of Computer and Information
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• v.17 no.2
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• pp.149-157
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• 2012

In this thesis, the problem of computing approximate answers to continuous sliding-window joins over data streams when the available memory may be insufficient to keep the entire join state. One approximation scenario is to provide a maximum subset of the result, with the objective of losing as few result tuples as possible. An alternative scenario is to provide a random sample of the join result, e.g., if the output of the join is being aggregated. It is shown formally that neither approximation can be addressed effectively for a sliding-window join of arbitrary input streams. Previous work has addressed only the maximum-subset problem, and has implicitly used a frequency based model of stream arrival. There exists a sampling problem for this model. More importantly, it is shown that a broad class of applications for which an age-based model of stream arrival is more appropriate, and both approximation scenarios under this new model are addressed. Finally, for the case of multiple joins being executed with an overall memory constraint, an algorithm for memory allocation across the join that optimizes a combined measure of approximation in all scenarios considered is provided.