• Proceedings of the KIPE Conference
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• 2014.07a
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• pp.451-452
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• 2014

본 논문에서는 단상 계통연계형 컨버터의 전원 위상각을 추종함에 있어 필수적인 전압 센서의 옵셋 오차에 대한 영향을 분석하고 이를 검출 및 보상하기 위한 알고리즘을 제안하였다. 전원전압 측정에 따른 옵셋 오차는 전원 주파수의 1배 맥동을 야기하여 전원 위상각이 왜곡된다. 왜곡된 전원 위상각에 의한 좌표변환시 동기 좌표계 dq축 전류에 전원 주파수 1배의 맥동을 야기하며 이는 계통측 상전류에 직류성분과 전원 주파수 2배의 고조파 성분을 발생시키게 된다. 따라서, 본 논문에서는 전원측정시 야기되는 옵셋 오차의 영향을 분석하고 이의 검출신호로 전원 위상각 제어기의 적분출력을 선정하였다. 또한 RMS(Root Mean Square) 기법을 이용하여 옵셋 성분을 검출 및 보상하는 알고리즘을 제안하였다. 제안된 알고리즘의 성능은 시뮬레이션과 실험을 통하여 검증하였다.

• Journal of Advanced Navigation Technology
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• v.9 no.1
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• pp.34-40
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• 2005

In this paper we propose a turbojet engine controller of unmanned aircraft based on the Fuzzy-PI algorithm. To prevent any surge or a flame out event during the engine acceleration or deceleration, the PI-type fuzzy controller effectively controls the fuel flow input of the control system. The fuzzy inference rule made by the logarithm function of acceleration error improves the tracking error. Computer simulations applied to the linear model of a turbojet engine show that the proposed method has good tracking performance for the reference acceleration and deceleration commands.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.5
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• pp.907-912
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• 2020

When designing a controller, a motor can have robust and precise control performance only by considering the error of the motor's mathematical model and the disturbance acting on it. For robust and precise control, the mechanical and electrical disturbance observers were designed to estimate the disturbance, and applied to the speed controller and current controller designed as a nominal system. To confirm the control performance of the designed system, it is applied to a 120 [W] class BLDC motor, and the result of the speed tracking control overcomes disturbances, the steady state error converges to zero, and the asymptotically stable result can be confirmed.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.5
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• pp.867-872
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• 2022

The effect of load is an important factor in precise speed control of a motor. n this study, we design a state observer that can estimate and define one state of disturbance including errors and nonlinear terms of mathematical models, which is not easy with a mathematical model. Then, the observation gain is set so that the estimation error of the state observation converges to 0, and the estimated state is used in the back stepping controller to design a controller capable of precise speed tracking. As a result of applying to 1 [hw] class Interior Permanent Magnet Synchronous Motor, excellent stste variable observation and tracking performance can be confirmed.

• Journal of Korean Society of Transportation
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• v.24 no.3 s.89
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• pp.17-27
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• 2006

Car following model is a theory that examines changes of condition and interrelationship of acceleration deceleration. headway, velocity and so on closely based on the hypothesis that the Posterior vehicle always follows the preceding vehicle. Car following mode) which is one of the research fields of microscopic traffic flow was first introduced in 1950s and was in active progress in 1960s. However, due to the limitation of data gathering the research depression was prominent for quite a while and then soon was able to tune back on track with development in global positioning system using satellite and generalization of computer use. Recently, there has been many research studies using reception materials of global Positioning system(GPS). Introducing GPS technology to traffic has made real time tracking of a vehicle position possible. Position information is sequential in terms of time and simultaneous measurement of several vehicles in continuous driving is also practicable. Above research was focused on judging whether it is feasible to overcome the following model research by adopting the GPS reception device that was restrictively proceeded due to the limitation of data gathering. For practical judgment, we measured the accuracy and confidence level of the GPS reception devices material by carrying out a practical experiment. Car following model is also being applied in simulations of traffic flow analysis, but due to the difficulty of estimating parameters the basis of the above result. it is our goal to produce an accurate calibration of car following model's parameters that is suitable in this domestic actuality.

• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.10
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• pp.955-962
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• 2016

In this paper, we propose a design method for speed controller, current control of a Brushless Direct Current(: BLDC) motor using disturbance rejection techniques. Disturbance assumes a back electromotive force occurring in the electrical system and the variation of the load acting on the rotary shaft from the outside of the motor. And it assumed to be constant during the time interval and the Luenberger's observer design. So that the error of the observer about the system status can converge to zero show how to set the appropriate gain. Further, to stabilize the whole system, and proposes a method for setting the appropriate PI gain control to improve the tracking performance. By applying the proposed controller to 120W BLDC motors were tested for the ability to follow the velocity and current reference. Since the simulation results of the steady state error is within 0.1%, we were able to show the usefulness of the tracking performance of the proposed controller.

• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.756-762
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• 2009

As nonlinear friction, stick-slip friction in hydraulic actuators are a problem for accuracy and repeatability. Therefore friction compensation has been approached through various control algorithms. A Adaptive discrete time sliding mode tracking controller has been applied in order to compensate the nonlinear friction characteristics in a hydraulic Actuator. Based on the diophantine equation, a new discrete time sliding function is defined and utilized for the control law which includes a friction and modeling error. Robustness is increased by using both a projection algorithm and a sliding function-based nonlinear feedforward. From the results of simulation and experiment good tracking performance is achieved.

• Proceedings of the KAIS Fall Conference
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• 2010.11b
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• pp.546-550
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• 2010

무인잠수정이 원하는 경로를 추종할 수 있도록 안정적인 운항제어를 수행하기 위해서는 잠수정의 동역학적 특성을 정확히 파악하는 것이 필요하다. 수중에서 거동하는 무인잠수정의 동역학적 특성은 제어입력뿐만 아니라 유체력계수에 의해 주로 결정되므로, 이러한 계수값을 정확하게 아는 것이 중요한 요소라 할 수 있다. 일반적으로 유체력계수는 PMM 시험과 같은 실험적 방법을 통하여 얻게 되지만 실험방법의 어려움과 실험장비들의 부정확성으로 인한 오차에 의하여, 얻어진 값들의 신뢰성이 많이 저하된다. 계수값들을 구할 수 있는 다른 방법으로는, 확장칼만필터 등과 같은 모델기반 추정 알고리즘을 통하여 유체력계수를 추정하는 것이다. 본 논문에서는 확장칼만필터를 이용하여 유체력계수를 추정하도록 하였으며, 설계된 추정 알고리즘의 성능을 검증하기 위하여 기존에 수행된 PMM 시험에 의해 얻어진 유체력계수의 실험값과 비교 분석하였다. 또한 본 논문에서는 만타형 무인잠수정을 이용하여 원하는 경로를 추종할 수 있도록, 추정된 유체력계수를 사용하여 수심제어 및 방향제어를 위한 슬라이딩 모드 제어기를 설계하였으며, 충분한 정확도를 가지고 원하는 경로를 추종함을 시뮬레이션을 통해 확인하였다.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.403-411
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• 2015

In this paper, we propose a design method for the position and speed controller, current control of a Brushless Direct Current(BLDC) motor using back-stepping design techniques. Further, to stabilize the whole system, and proposes a method for setting the appropriate gain control to improve the tracking performance. By applying the proposed controller to 120W BLDC motors were tested for the ability to follow the position, velocity and current reference. Since the simulation results of the steady state error is within 1%, we were able to show the usefulness of the tracking performance of the proposed controller.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.4
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• pp.906-912
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• 2014

The study of fish robot is a main subject that are related with the propulsive force comparison using a varying amplitude and frequency for body and tail motion trajectory, and the quick turn using a proper trajectory function. In this study, when a fish robot thrusts forward, feedback control is difficult to apply for a fish robot, because body and tail joints as a sine wave are rolled. Therefore, we detect the virtual position based on the path of the fish robot, define the angle errors using the detected position and the look-ahead point on the given path, and design a controller to track given path. We have found that the proposed method is useful through the computer simulations.