• Proceedings of the KIPE Conference
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• 2013.07a
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• pp.108-109
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• 2013

본 논문에서는 PMSM 제어를 위한 Look-up Table 사용시 적용되는 인터폴레이션 개선기법에 대하여 설명한다. PMSM은 약계자 영역에서 속도 증가에 따라 전류제한원의 영향에 의해 q축 전류가 감소하는 운전을 하게 된다. 기존의 PMSM 약계자 영역에서는 Look-up Table을 이용한 제어시 d,q축 전류 데이터 부족에 의해 선형 인터폴레이션 구간이 늘어나기 때문에 지령과 실제 전류에 오차가 발생하게 된다. 본 논문에서는 약계자 영역에서 q축 전류 보상기를 통해 선형 인터폴레이션에 의해 발생하는 오차를 보상하는 전류제어 방법에 대하여 제안한다.

• The Journal of the Acoustical Society of Korea
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• v.17 no.8
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• pp.19-24
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• 1998

이 논문에서는 능동 소음 제어 시스템을 구성하는 요소들인 증폭기와 저주파 필터 와 같은 소자들의 비선형 특성과 공간에서의 주파수 대역에 따른 비선형 특성을 보상하여, 보다 효과적인 능동 소음 제어기를 설계하기 위해 시간 지연 신경 회로망을 이용하는 새로 운 방법을 제안한다. 공간을 포함한 2차 경로 함수를 모델링하여 보다 나은 성능을 갖는 능 동 소음 제어기를 구성하기 위한 기존의 최소 자승 오차 알고리듬에 기반한 filtered-x least mean square(LMS) 알고리듬과 오차 역전달 학습 알고리듬을 갖는 시간 지연 다층 구조 인 식자를 이용한 결과를 간단한 실험을 통하여 그 성능을 비교 분석한다.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.3
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• pp.247-255
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• 1989

This paper proposes an error model with integral action and a pole-place-ment self-tuning controller for robot manipulators in task coordinates. The controller can reject the offset due to any load disturbance without a detailed description of the robot dynamics. The error model parameters are estimated by the recursive least square identification algorithms, and controller parameters are determined by the pole-placement method. A computer simulation study has been conducted to demonstrate the performance of the proposed control system in task coordinates for a 3-joint and 2-link spatial robot manipulator with payload.

• Proceedings of the KIPE Conference
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• 2018.11a
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• pp.153-154
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• 2018

본 논문은 인버터의 출력단과 계통사이에 비선형부하가 연결되어 있는 상황에서 계통 전류의 THD를 개선하기 위해 반복제어기를 적용한다. 반복제어기는 주기적인 오차를 모델링하고 미리 보상하여 정상상태시 오차를 줄이는 목적으로 설계된 제어기이기에 계통전류 THD 개선에 효과적이다. 본 논문은 인버터의 공급전력이 부하의 소비전력보다 큰 경우 또는 부하의 소비전력보다 작은 경우에도 계통의 전류 THD는 개선되도록 하는 알고리즘을 제안한다. 시뮬레이션의 결과를 통해 계통 전류의 THD 개선을 확인한다.

• Proceedings of the KSR Conference
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• 2006.11b
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• pp.802-810
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• 2006

For a thorough train control, the precise train position detection is necessarily required. The widely used current way for train position detection is the one of using track circuits. The track circuit has a simple structure, and has a high level of reliability. However trains can be detected only on track circuits, which have to be installed on all ground sections, and much amount of cost for its installation and maintenance is needed. In addition, for the track circuit, only discontinuous position detection is possible because of the features of the closed circuit loop configuration. As the recent advances in telecommunication technologies and high-tech vehicle-based control equipments, for the train position detection, the method to detect positions directly from on trains is being studied. Vehicle-based position detection method is to estimate train positions, speed, timing data continuously, and to use them as the control information. In this paper, the features of GPS navigation and DR navigation are analyzed, and the navigation filters are designed by constructing vehicle-based train position detection method by combining GPS navigation and DR navigation for their complementary cooperation, and by using kalman filter. The position estimation performance of the proposed method is also confirmed by simulations.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.3 s.168
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• pp.52-60
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• 2005

This paper deals with the position control fur a feed drive system in CNC milling machine, which utilizes a modified error signal for the elimination of steady-state error. A linear time-invariant (LTI) system has consistent properties in response to standard test signal inputs. Those also appear in an error curve acquired from the response. From such properties, constructed is an error model for the position control of the feed drive. And then added is the output of the error model to the current error signal. Consequently the resulting proportional control system brings performance improvement in view of the steady-state error. The effectiveness of the proposed scheme is confirmed through simulations and experiments.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.17-24
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• 1999

본 논문에서는 새로운 적응 퍼지 슬라이딩 모드제어 방법을 제시하였다. 제어기는 정확한 수확적인 모델이 없이도 점근적으로 시스템을 안정화시킬 수 있으며 적분항을 포함시킴으로서 정상상태에서의 오차를 좀 더 줄일 수가 있다. 직접구동모터는 감쇄기어가 없어서 부하나 외란 토크의 변화에도 모터 역학에 직접적으로 많은 영향을 줄 수가 있다. 제어기의 실제성능을 확인하기 위하여 불확실한 부하나 변소를 갖는 직접구동모터의 위치제어에 적용하였다.

• 전자공학회논문지 IE
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• v.43 no.4
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• pp.28-36
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• 2006

In this paper, an algorithm to classify the 4 motions of arm and a control system to position control the prosthesis are studied. To classify the 4 motions, we use flex sensors which is electrical resistance type sensor that can measure warp of muscle. The flex sensors are attached to the biceps brchii muscle and coracobrachialis muscle and the sensor signals are passed the sensing system. 4 motion of the forearm - flexion and extension, the pronation and supination are classified from this. Also position of forearm is measured from the classified signals. Finally, A two D.O.F prosthesis arm with RC servo-motor is designed to verify the validity of the algorithm. At this time, fuzzy controller is used to reduce the position error by rotary inertia and noise. From the experiment, the position error had occurred within about 5 degree.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.5
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• pp.462-473
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• 1999

This paper addresses the current measurement issue of all digital field oriented control of ac motors. The p paper focuses on the effect of low-pass filter and also on the sampling of the fundamental component of the m motor current. The low-pass filter, which suppresses the switching noise of the motor current, introduces v variable phase delay according to the current ripple frequency. It is shown that the current sampling error c consists of the fundamental component and high frL'quency ripple components. In this paper, the dependency of t this current sampling e$\pi$or on the reference voltage vector is investigated analytically and a sampling technique i is proposed to minimize the error. The work is based on the three phase symmetry pulse width modulation l inverter driving an induction machine. With this technique, the bandwidth of current regulator can be extended t to the limit given by the switching frequency of the inverter and more precise torque regulation is possible.

• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.5
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• pp.765-773
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• 2011

This paper proposes a control method for a differential robot to track and follow a moving object based on ultrasonic sensor. To track a target object, the method uses a transmitter and two receivers to get distances from the object. The method derives translational and rotational error by the distances and then it uses the errors to calculate control values based on PID control method. The control values are used to control the robot to follow moving object. The authors do some experimentations to analyze some characteristics such as influence of PID gain, influence of translational and rotational gain. This method not only can be applied for following moving object problem but also can be done group unit control problems.