• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.11 no.4
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• pp.82-91
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• 1997

In this paper, a design method of the boiler-turbine control system in the coal fired power plant is proposed. We need to control electric output and drum pressure and water level in drum to guarantee stable operation and save energy for generating electricity and decrease air pollution in the boiler-turbine system. This boiler-turbine control system is composed of reference model part and model following part. The multivariable boiler-turbine system is separated into 3 SISO(Single Input Single Output) systems applying the concept of relative gain matrix. Each 3 reference models for separated boiler-turbine system are composed of 1st order nominal plant and hysteresis integral control system and they make good dy¬namic response with no overshoot and fast rising time. Each fuzzy controller to follow as close as possible to the response of each reference model is designed. The robustness and the good tracking property can be achieved using 5150 fuzzy controllers when there are modeling errors, disturbances and parameter pertur¬bations. The effectiveness of the proposed design method is verified through simulations.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.2
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• pp.73-80
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• 2003

This Paper Proposes instantaneous following control method to control pulse modulation switching converter by using principle that reset time of integrator is inverse proportion in size of integrator input voltage. proposed control method acts of fixed frequency and control switch calculates time of become turn on and turn off using analog integrator. Duty ratio that express switching time of converter is depended on mean value of switching variable and following time consists in one cycle. Follow to do order exactly stationary state as well as transition state, and controller corrects mean value of control variable and control reference value and control as control error gets into zero. Proposed control method could experimented and know that experiment result and theory are agreeing well through this using the buck converter.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.599-605
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• 2017

For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.179-181
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• 1987

In this paper, a self-tuning controller design is proposed by using pole-zero placement method and considering a system time delay. To got better tracking for the generalized self-tuning controller, pole placement method for the closed loop system and zero placement method for the error transfer function are Introduced. The proposed method shows better efficiency than pole placement method for minimizing tracking error. Simulation gives good results in tie reference signal tracking.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2043-2045
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• 2003

본 연구에서는 자기부상 방식의 스테이지 시스템 설계 및 제작을 행하고 시스템의 제어성능평가를 하고자 한다. 본 논문에서는 제어성능의 효율성을 향상시키기 위하여 부상체(Platen)의 기계적인 모델링을 행하고 Platen의 PTP(point to point) 및 궤도추종제어가 가능한 슬라이딩 모드제어기를 제안하였다. 제안한 슬라이딩 모드제어기는 모델링 오차 및 외란에 대해서도 강인한 제어성능을 얻을 수 있으며 수치시뮬레이션을 통하여 그 유용성을 확인하였다.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.5
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• pp.131-138
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• 1996

This paper suggests a servo control algorithm to reduce the repeatable tracking error which is not explicitly taken into account in the design of a conventional PID controller of a computer hard disk drive. The robust stability of the repetitive control system with multiplicative modelling error is analyzed, and the controller was implemented using a fixed point DSP(Digital Signal Processor). Experimental results show that the repetitive errors are suppressed effectively by the proposed controller.

• Proceedings of the KIPE Conference
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• 2020.08a
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• pp.439-440
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• 2020

본 논문에서는 PMSM(Permanent Magnet Synchronous Motor)의 구동 효율 향상을 위한 MTPA(Maximum Torque Per Ampere) 제어 기법에 대해 제안한다. 제안된 기법은 전동기의 동손이 최소가 되도록 최적화 기법을 통해 전류각 지령을 조정한다. 제안된 기법을 통해 모든 부하 조건에서 짧은 시간 내에 동손이 최소가 되는 최적 전류각을 추종할 수 있으며, 전동기의 제정수 혹은 위치 측정 오차에 강인하다. 800W IPMSM 구동 실험을 통해 제안된 기법의 효용성을 검증하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.526-528
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• 2022

실외 자율주행 청소 로봇을 위한 인공지능기반 자율주행 시스템을 개발하였다. 개발된 시스템은 ROS(Robot Operationg System) 기반으로 이루어졌으며, 3D 라이다와, 초음파 센서를 활용하여 주변의 장애물을 감지하고 GPS와 영상을 활용하여 로봇의 위치 인식을 하여 자율 주행을 진행하였다. 자율주행 실험결과 영상과 RTK-GPS를 사용하여 정해진 경로를 ±20cm이내의 오차를 가지고 추종하면서 청소를 진행하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.1
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• pp.75-81
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• 2002

In the re-entry comtrol system, errors apt to induce because the time deriviative of drag acceleration is analytically estimated. Still more, the difficulty of estimation of th exact drag coefficient in hypersonic velocity and the non-reality of the scale height cause a steady-state drag errer. In the Space-Shuttle, a steady-state drag error is reduced by the addition of the integral term of drag acceleation error into the control system. This method, however, induces a difficulties in respect to the modern controller composition due to the multi-poles in a closed-loop system. Thus, this paper proposes the additional method of the disturbance observer. This reduces the steady-state drag error according to the following by the analytic calculation, and then creates the new drag acceleration time derivative using the estimated error. The performance of the re-entry control system is verified about 32 refernce trajectories.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.926-931
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• 2008

In order to design a high-performance controller with excellent positioning and tracking performance, an optimal tuning method based on the integrated design concept is studied. DOBs, feedforward controllers and CCC are applied to control the bi-axial linear servomechanism. To derive accurate dynamic models of mechanical subsystems equipped with linear servos for the integrated tuning, system identification processes are conducted through the sine sweeping. An optimal tuning problem with stability, robustness and overshoot constraints is formulated as a nonlinear constrained optimization problem. Optimal gains are obtained through the SQP method. Experimental results confirm that both tracking and contouring errors are significantly reduced by applying the proposed controller and integrated tuning method.