• Proceedings of the KIEE Conference
• /
• 2007.07a
• /
• pp.1632-1633
• /
• 2007

This paper presents a new method of designing digital controller based on closed-loop identification of a pulse width modulation (PWM) converter system. We consider the control system structure which is composed of both current control loop and voltage control loop. The current controller can be designed independently of voltage loop. Whereas voltage controller can not do easily due to the PWM switching component which is nonlinear in nature. Furthermore, the control objective of inner loop is to track the sine wave of 60 Hz, but the outer loop shall maintain the constant DC voltage irrespective to load change. To systematically design outer loop controller, we propose a method finding linear approximate model of the nonlinear inner loop part including current controller by closed loop identification. Based on the identified model, we show that a simple digital voltage controller can be directly designed and it has good performance.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.47 no.8
• /
• pp.574-581
• /
• 2019

This paper investigates the effects of thrust misalignments and offsets of the lateral center of gravity of a space launch vehicle on its guidance performance. Sensitivity analysis and Monte Carlo simulations are applied to analyze their effects by computing changes in orbit injection errors when including the error sources. To compensate their effects, the attitude controller including an integrator additionally and the Steering Misalignment Correction (SMC) routine of the Saturn V are considered, and then Monte Carlo simulations are performed to evaluate their performances.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.39 no.6
• /
• pp.20-26
• /
• 2002

This paper deals with the guaranteed cost control problems for a class of discrete-time linear uncertain systems with time-varying delay. The uncertain systems under consideration depend on time-varying norm-bounded parameter uncertainties. We address the existence condition and the design method of the memoryless state feedback control law such that the closed loop system not only is quadratically stable but also guarantees an adequate level of performance for all admissible uncertainties. Through some changes of variables and Schur complement, It is shown that the sufficient condition can be rewritten as an LMI(linear matrix inequality) form in terms of all variables.

• Journal of the Korean Institute of Telematics and Electronics T
• /
• v.36T no.4
• /
• pp.53-59
• /
• 1999

In this paper, a bi-directional UPS with the performance of active power filter has been proposed. The operation of the proposed system can be divided into two modes, such as the active power filter mode and the battery back-up power mode. To improve the transient response for the effective compensation of harmonics and reactive power in active power filter mode, a novel closed-loop control strategy is used to calculate the reference current instantaneously. Finally, the performance of proposed UPS is verified by the simulation and experimental results.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.34S no.3
• /
• pp.24-32
• /
• 1997

This paper is on a discrete controller order reduction with the closed-loop stability and performance guaranteed. to achieve this, after finding the solutionsof two lyapunov inequalities and balancing the full order controller system, we find the reudced order controlers using the balanced truncation (BT) and the balanced singular perturbation approximation (BSPA). When the solutions of the two lyapunov inequalities exist, it is shown that the resulting controllers guarantee the closed-loop stability, and .inf.-norm error bounds are derived for the closed-loop performance region for the BT and in low frequency region for the BSPA. Finally, a numerical example is given to illustrate the validity of the proposed method.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.27 no.2
• /
• pp.105-110
• /
• 1990

In this paper, a compliance robot control algorithm using a PID adaptive controller is proposed. The compliance robot is suitable for the tasks in contact with environment, such as assembly operation or surface processing. A hybrid robot control method can control force and position simultaneously and two independant feedback closed loops are formed in this method. Because the compliance robot is operated in contact with environment, it is very difficult to obtain linear model of dynamics for this robot. In order to overcome this difficulty, a PID adaptive controller independant of robot dynamics is applied to the compliance robot. The proposed control algorithm for the compliance robot was analyzed and conformed by simulating the surface processing task by a two-joint robot.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.39 no.3
• /
• pp.183-190
• /
• 2002

This paper describes the synthesis of robust and non-fragile H$\infty$ state feedback controllers for linear varying systems with affine parameter uncertainties, and static state feedback controller with structured uncertainty. The sufficient condition of controller existence, the design method of robust and non-fragile H$\infty$ static state feedback controller, and the set of controllers which satisfies non-fragility are presented. The obtained condition can be rewritten as parameterized Linear Matrix Inequalities(PLMls), that is, LMIs whose coefficients are functions of a parameter confined to a compact set. However, in contrast to LMIs, PLMIs feasibility problems involve infinitely many LMIs hence are inherently difficult to solve numerically. Therefore PLMls are transformed into standard LMI problems using relaxation techniques relying on separated convexity concepts. We show that the resulting controller guarantees the asymptotic stability and disturbance attenuation of the closed loop system in spite of controller gain variations within a degree.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2008.05a
• /
• pp.411-414
• /
• 2008

The study is about simulation of optical circuit for oneself performance evaluation of Fiber Optic Gyro(FOG) closed-loop controller board. The Fiber Optic Interferometer Simulator is used a digital signal processing for cosine response specificity output of fiber optic coil about input rate. Response specificity of the fiber optic coil is $Vo(t)=K3[1+\cos\{K1(Vm(t)-Vm(t-{\tau}))+K2\}]$. Also the Fiber Optic Interferometer Simulator is able to confirm a output value with K1, K2 and K3 input. The fiber Optic Interferometer Simulator is able to oneself performance evaluation without fiber optical circuit. Because, it is the very same cosine response specificity of real fiber optic coil about input rate.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.17 no.6
• /
• pp.853-860
• /
• 2014

This paper introduces a Korean rescue robot and presents a whole body kinematic control strategy. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility in the battlefields, hospitals and hazardous environments. In order for a robot to rescue and assist humans, reliable mobility in various environments, large load carrying capacity, and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulator, and two types of grippers. The electric actuators provide the strength to lift a wounded soldier up to 120 kg using whole body joints. To control the robot with multi degree of freedom, we need to synthesize complex whole-body behaviors, and to manage multiple task primitives systematically. We are to present a whole body kinematic control methodology, and demonstrate its effectiveness through numerical simulations.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.7 no.2
• /
• pp.36-40
• /
• 1993

In order to improve complicated construction and complex control which are disadvantage of optimal PWM technique aimed at harmonic elimination method, this paper presented MRA(Model Reference Adaptive) PWM technique that gatmg signal of inverter is generated by comparing the reference signal with the induced feedback signal at the reference model of load. Design of controller is composed of microprocessor and analog circuit. MRA PWM technique used in the paper is able to compensate the degradation of voltage efficiency to be generated by the ratio of the output voltage to the DC supply voltage being low for using conventional sinusoidal PWM technique. When the trapezoidal signal is employed as the reference signal. the low order harmonics of line current can be reduced and the switching pattern is made by on-line computation using comparatively simple numerical analysis.