• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.218-223
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• 1993

In this paper, we present a full digital control scheme which controls currents and speed of the permanent magnet AC servo motor with large range of bandwidth and high performance. The current equations of the permanent magnet AC servo motor are linearized by feedback linearization technique. Both acceleration feedforward terms and IP controllers, whose gains are functions of motor speed, are used in order to control motor currents. In addition the phase delays in current control loops are compensated by placing phase lead-lag compensators after current commands, which make it possible to avoid high gains in the current controllers. Unity power factor can be achieved by the proposed current controller. Pulsewidth modulation is performed by way of the well-known comparison with a triangular carrier signals. The velocity controller is designed on the basis of the linearized model of the permanent magnet AC servo motor by the proposed current controller. The performance of the entire control system is analyzed in the presence of uncertainty in the motor parameters. The proposed control scheme is implemented using the digital signal processor-based controller composed of an Analog Device ADSP 2111 and a NEC78310. The pulsewidth modulation (PWM) signals are generated through a custom IC, SAMSUNG-PWM1, which has the outputs of current controllers as input. The experimental results show that the permanent magnet AC servo motor can be always driven with high dynamic performance by the proposed full digital control scheme of motor speed and motor current.

• 한국전자파학회논문지
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• 제26권2호
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• pp.218-225
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• 2015

역합성 개구면 레이더(Inverse Synthetic Aperture Radar: ISAR) 영상은 표적으로부터 반사되어 돌아온 레이더 수신신호들을 코히런트하게 신호처리하여 형성한 표적의 2차원 영상이다. 본 논문에서는 계단 첩 파형(Stepped Chirp Waveform: SCW)을 이용한 ISAR 영상 형성과정에서 펄스 간 움직임(Inter-Pulse Motion: IPM)이 존재하는 경우, 이를 효과적으로 보상하기 위한 알고리즘을 제안한다. 널리 쓰이는 최적화 기법 중 하나인 particle swarm optimization(PSO)를 기반으로 IPM에 관련된 표적의 속도와 가속도를 추정한다. 또한, 개선된 PSO를 통해 기존의 성능을 더욱 향상시켜 실시간 요동보상을 수행한다. 시뮬레이션에서는 Boeing-737의 점 산란원 모델을 이용한 기동 시나리오에서 제안된 알고리즘의 성능을 확인한다.

• 한국융합학회논문지
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• 제6권4호
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• pp.249-255
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• 2015

이 연구의 목적은 불빛 자극의 이동속도가 농구 패스를 정확하게 예측하고 수행하는데 어떠한 영향을 미치는지를 알아보고 이러한 결과가 기술수준에 따라 어떠한 차이가 나타나는지 확인하는데 있다. 이를 위해 숙련자 7명, 초보자 7명의 대상에게 불빛 자극의 이동속도(4m/s, $3m/s{\rightarrow}5m/s$, $5m/s{\rightarrow}3m/s$)가 다른 실험과제 상황에서 불빛 자극이 목표지점에 도착하는 시점과 일치되게 체스트패스를 수행하도록 하였다. 실험과제는 각 자극조건 당 4회씩 총 12회가 무선으로 제시되었으며, 매 시행마다 예측 타이밍 수행의 차이를 확인하기 위해 절대오차, 항상오차 그리고 가변오차를 측정하였다. 연구 결과, 숙련자가 초보자에 비해 예측 타이밍의 정확성이 높은 것으로 나타났으며, 감속 및 등속 조건이 가속조건에 비해 타이밍 정확성이 높은 것으로 나타났다. 타이밍 수행의 경향을 측정한 항상오차는 숙련자가 초보자에 비해 적은 오차를 나타냈으며, 감속 조건이 가장 적은 오차를 나타냈다. 마지막으로 타이밍 수행의 일관성을 측정한 가변오차는 기술수준에 따른 주효과만 유의한 것으로 나타났다. 즉 숙련자가 초보자에 비해 수행의 일관성이 높은 것으로 나타났다. 이러한 결과를 종합해보면, 숙련자가 보다 예측 타이밍 수행능력이 높은 것으로 확인되었으며, 감속 조건이 다른 이동속도 조건에 비해 보다 낮은 오차를 보인 것으로 나타났다.

• 대한기계학회논문집A
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• 제28권1호
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• pp.1-10
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• 2004

This paper presents a navigation garde capacitive microaccelerometer, whose low-noise high-resolution detection capability is achieved by a new electrode design based on a high-amplitude anti-phase sense voltage. We reduce the mechanical noise of the microaccelerometer to the level of 5.5$\mu\textrm{g}$/(equation omitted) by increasing the proof-mass based on deep RIE process of an SOI wafer. We reduce the electrical noise as low as 0.6$\mu\textrm{g}$/(equation omitted) by using an anti-phase high-amplitude square-wave sense voltage of 19V. The nonlinearity problem caused by the high-amplitude sense voltage is solved by a new electrode design of branched finger type. Combined use of the branched finger electrode and high-amplitude sense voltage generates self force-balancing effects, resulting in an 140％ increase of the bandwidth from 726㎐ to 1,734㎐. For a fixed sense voltage of 10V, the total noise is measured as 2.6$\mu\textrm{g}$/(equation omitted) at the air pressure of 3.9torr, which is the 51％ of the total noise of 5.1$\mu\textrm{g}$/(equation omitted) at the atmospheric pressure. From the excitation test using 1g, 10㎐ sinusoidal acceleration, the signal-to-noise ratio of the fabricated microaccelerometer is measured as 105㏈, which is equivalent to the noise level of 5.7$\mu\textrm{g}$/(equation omitted). The sensitivity and linearity of the branched finger capacitive microaccelerometer are measured as 0.638V/g and 0.044％, respectively.

• 한국항공우주학회지
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• 제36권9호
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• pp.929-937
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• 2008

한국항공우주연구원에서 개발하고 있는 KSLV(Korea Space Launch Vehicle)-I 발사체의 비행 안전용 센서의 하나로 활용하기 위하여 개발된 GPS 수신기 시스템은 위성발사체의 특수한 비행환경과 높은 동특성 환경에서도 정상적으로 동작해야 한다. 5년에 걸쳐 개발이 완료된 위성발사체용 GPS 수신기 시스템은 습도, 고온, 저온, 진공, 정현파 및 랜덤진동, 충격, 가속도, 전자파 환경시험 등을 통하여 특수한 환경에서의 성능을 검증하였으며, GPS 시뮬레이터를 이용한 다양한 성능시험을 수행하여 높은 동특성 환경에서도 안정적으로 동작할 수 있음을 확인하였다. 본 논문에서는 위성발사체용 GPS 수신기 시스템의 전 개발과정을 소개하고, 일반적인 GPS 수신기 시스템과 비교하여 개발된 GPS 수신기 시스템의 특수한 기능들을 설명한다.

• Smart Structures and Systems
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• 제17권3호
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• pp.471-489
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• 2016

Modal identification based on ambient vibration data has attracted extensive attention in the past few decades. Since the excitation for ambient vibration tests is mainly from the environmental effects such as wind and traffic loading and no artificial excitation is applied, the signal to noise (s/n) ratio of the data acquired plays an important role in mode identifiability. Under ambient vibration conditions, certain modes may not be identifiable due to a low s/n ratio. This paper presents a study on the mode identifiability of an instrumented cable-stayed bridge with the use of acceleration response data measured by a long-term structural health monitoring system. A recently developed fast Bayesian FFT method is utilized to perform output-only modal identification. In addition to identifying the most probable values (MPVs) of modal parameters, the associated posterior uncertainties can be obtained by this method. Likewise, the power spectral density of modal force can be identified, and thus it is possible to obtain the modal s/n ratio. This provides an efficient way to investigate the mode identifiability. Three groups of data are utilized in this study: the first one is 10 data sets including six collected under normal wind conditions and four collected during typhoons; the second one is three data sets with wind speeds of about 7.5 m/s; and the third one is some blind data. The first two groups of data are used to perform ambient modal identification and help to estimate a critical value of the s/n ratio above which the deficient mode is identifiable, while the third group of data is used to perform verification. A couple of fundamental modes are identified, including the ones in the vertical and transverse directions respectively and coupled in both directions. The uncertainty and s/n ratio of the deficient mode are investigated and discussed. A critical value of the modal s/n ratio is suggested to evaluate the mode identifiability of the deficient mode. The work presented in this paper could provide a base for the vibration-based condition assessment in future.

• 한국기계가공학회지
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• 제15권6호
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• pp.1-8
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• 2016

As demand for paper cups markedly increases, this has brought about a requirement to develop fast paper cup forming machines. However, the fast manufacturing speed of these machines causes faults to occur more frequently in the final product. To reduce the possibility of producing faulty products, it is necessary to develop technologies to monitor the manufacturing process and diagnose the machine status. In this research, we selected the main driving axis of the forming machine for fault diagnosis. We searched the states of rotational elements related to the driving axis and suggested a fault diagnostic system based on spectrum analysis consisting of a real-time data acquisition device, accelerometers, and a diagnosis algorithm. To evaluate the developed fault diagnostic system, we performed experiments using a test station which resembles the actual paper cup forming machine. As a result, we were able to confirm that the proposed system was sufficiently feasible to diagnose any abnormalities in the operation of the paper cup forming machine.

• Smart Structures and Systems
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• 제20권2호
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• pp.163-173
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• 2017

Structural health monitoring (SHM) of civil infrastructure using fiber Bragg grating sensor networks (FBGSNs) has received significant public attention in recent years. However, there is currently little research on the health-monitoring technology of high-piled wharfs in coastal ports using the fiber Bragg grating (FBG) sensor technique. The benefits of FBG sensors are their small size, light weight, lack of conductivity, resistance corrosion, multiplexing ability and immunity to electromagnetic interference. Based on the properties of high-piled wharfs in coastal ports and servicing seawater environment and the benefits of FBG sensors, the SHM system for a high-piled wharf in the Tianjin Port of China is devised and deployed partly using the FBG sensor technique. In addition, the health-monitoring parameters are proposed. The system can monitor the structural mechanical properties and durability, which provides a state-of-the-art mean to monitor the health conditions of the wharf and display the monitored data with the BIM technique. In total, 289 FBG stain sensors, 87 FBG temperature sensors, 20 FBG obliquity sensors, 16 FBG pressure sensors, 8 FBG acceleration sensors and 4 anode ladders are installed in the components of the back platform and front platform. After the installation of some components in the wharf construction site, the good signal that each sensor measures demonstrates the suitability of the sensor setup methods, and it is proper for the full-scale, continuous, autonomous SHM deployment for the high-piled wharf in the costal port. The South 27# Wharf SHM system constitutes the largest deployment of FBG sensors for wharf structures in costal ports to date. This deployment demonstrates the strong potential of FBGSNs to monitor the health of large-scale coastal wharf structures. This study can provide a reference to the long-term health-monitoring system deployment for high-piled wharf structures in coastal ports.

• Smart Structures and Systems
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• 제25권5호
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• pp.569-580
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• 2020

The identification of delays and delay compensation are critical problems in real-time hybrid simulations (RTHS). Conventional delay compensation methods are mostly based on the assumption of a constant delay. However, the system delay may vary during tests owing to the nonlinearity of the loading system and/or the behavioral variations of the specimen. To address this issue, this study presents an adaptive delay compensation method based on a discrete model of the loading system. In particular, the parameters of this discrete model are identified and updated online with the least-squares method to represent a servo hydraulic loading system. Furthermore, based on this model, the system delays are compensated for by generating system commands using the desired displacements, achieved displacements, and previous displacement commands. This method is more general than the existing compensation methods because it can predict commands based on multiple displacement categories. Moreover, this method is straightforward and suitable for implementation on digital signal processing boards because it relies solely on the displacements rather than on velocity and/or acceleration data. The virtual and real RTHS results show that the studied method exhibits satisfactory estimation smoothness and compensation accuracy. Furthermore, considering the measurement noise, the low-order parameter models of this method are more favorable than that the high-order parameter models.

• 전기전자학회논문지
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• 제10권1호
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• pp.55-61
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• 2006

현대 사회는 의료 기술의 발달로 인한 인간 수명의 연장과 핵가족화로 인하여 혼자 지내는 노인이 많아지면서 응급상황 발생시 신속한 의료서비스를 받지 못하는 경우가 많아지고 있다. 또한 대표적인 성인병인 심혈관질환과 뇌졸중 그리고 노인의 건강에 치명적인 낙상의 발생율도 높아지고 있는 추세이다. 본 논문에서는 심전도, 체온, 사용자의 움직임 등의 생체신호를 획득하고 획득된 생체신호를 분석하여 심혈관질환, 뇌졸중, 낙상 등의 응급상황 발생시 응급의료센터와 보호자에게 구조메시지를 전송할 수 있는 시스템을 제안하였다. 시스템은 크게 생체신호 획득부와 모바일부 두 부분으로 나눌 수 있다. 생체신호 획득부는 사용자에 따라 생체신호의 추가, 제거가 어렵다는 단점을 보완하기 위해 심전도, 체온, 가속도 센서 모듈로 모듈화 하여 구성하였다. 모바일부는 생체신호 획득부로부터 전송된 생체신호의 처리 및 응급상황시 메시지 전송, 생체신호의 디스플레이 역할을 수행하며, 생체신호 획득부에서 획득된 생체신호는 블루투스 모뎀을 통하여 모바일부로 전송된다. 또한 모바일부에서 처리된 신호는 802.11b 무선랜을 통하여 PC로 전송된다.