• Journal of Electrical Engineering and Technology
• /
• 제11권6호
• /
• pp.1802-1811
• /
• 2016

A novel battery SOH estimation algorithm based on outlier detection has been presented. The Battery state of health (SOH) is one of the most important parameters that describes the usability state of the power battery system. Firstly, a battery system model with lifetime fading characteristic was established, and the battery characteristic parameters were acquired from the lifetime fading process. Then, the outlier detection method based on angular distribution was used to identify the outliers among the battery behaviors. Lastly, the functional relationship between battery SOH and the outlier distribution was obtained by polynomial fitting method. The experimental results show that the algorithm can identify the outliers accurately, and the absolute error between the SOH estimation value and true value is less than 3%.

• 전기학회논문지
• /
• 제67권7호
• /
• pp.871-877
• /
• 2018

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

• International Journal of Control, Automation, and Systems
• /
• 제3권spc2호
• /
• pp.302-307
• /
• 2005

A novel neuro controller based simple neuro-structure with modified error function is introduced in this paper. This controller consists of two independent controllers, known as the voltage regulator and the angular controller. The voltage regulator is used to modify terminal voltage for the purpose of tracking a reference voltage. The angular controller is utilized to guarantee the stability of the system. In this structure each neuron uses a linear hard limit activation function that depends on the controlled variable and its derivatives. There is no need for parameter identification or any off-line training data. Two proposed controllers are merged by a smooth switch to build a complete controller. The effectiveness of the proposed novel control action is demonstrated through some computer simulations on a Single-Machine Infinite-Bus (SMIB) power system.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2006-2009
• /
• 2005

This paper presents a method for registering images using phase correlation technique in fourier domain, hough transform and multi-resolution wavelet. To register images, source and input images are transformed to wavelet domain. An angular transition can be obtained by applying hough transform technique followed by phase correlation. Then we apply phase correlation technique to find x-axis and y-axis transition. We apply wavelet transform to reduce processing time and also use its coefficients as edge information instead of canny detector. With multi-resolution property of wavelet transform, registration time can be greatly reduced. After we get all transition parameters, we transform the input images according to these parameters. Then, we compose and blend all images into a new large image with details of all source images. From our experiment, we can find the accurate transition both x-y translation and angular transition with less error.

• ETRI Journal
• /
• 제28권6호
• /
• pp.761-769
• /
• 2006

In this paper, we address the problem of closely spaced source localization using sensor array processing. In particular, the performance efficiency (measured in terms of the root mean square error) of the unconditional maximum likelihood (UML) algorithm for estimating the direction of arrival (DOA) of near-field sources is evaluated. Four parameters are considered in this evaluation: angular separation among sources, signal-to-noise ratio (SNR), number of snapshots, and number of sources (multiple sources). Simulations are conducted to illustrate the UML performance to compute the DOA of sources in the near-field. Finally, results are also presented that compare the performance of the UML DOA estimator with the existing multiple signal classification approach. The results show the capability of the UML estimator for estimating the DOA when the angular separation is taken into account as a critical parameter. These results are consistent in both low SNR and multiple-source scenarios.

• 한국항공우주학회지
• /
• 제36권10호
• /
• pp.1003-1010
• /
• 2008

본 논문은 RLG의 신호처리 기법인 Trapping 기법 적용시 각속도와 가속도의 측정시점 불일치에 의해 발생되는 오차를 보상하는 기법에 관한 연구이다. RLG의 대표적인 신호처리 기법인 Stripping 신호처리 기법과 Trapping 신호처리 기법에 대하여 각 기법의 오차요인을 분석하고 이에 대한 모델링을 수행하였다. 그리고 Trapping 기법 적용시 각속도와 가속도 측정시점 불일치에 의해 발생되는 오차에 대한 모델링을 통하여 항법오차에 미치는 영향을 분석하였으며 이를 감소시키기 위한 새로운 신호처리 기법을 제안하고 시뮬레이션 및 시험을 통하여 이에 대한 성능분석 결과를 제시하였다. 성능 분석결과 본 논문에서 제시한 신호처리 기법이 기존의 방법에 비하여 항법오차를 크게 감소시키는 것을 확인할 수 있었다.

• 연구논문집
• /
• 통권34호
• /
• pp.101-112
• /
• 2004

In order to analyze the motion errors of the aerostatic stage, it is necessary to consider the influence of the moment variation occurredinside the pads. In this paper, a motion error anaysis method utilizing the transfer functions on the reaction force and moment is proposed, and general characteristics of the transfer functions are discussed. Calculated motion errors by the proposed method show good agreement with the ones calculated by Multi Pad Method, which is considered the entire table as an analysis object. Also, by the introduction of the transfer function of motion errors, which represent the relationship between the spatial frequency components of the rail form error and motion errors, motional characteristics of the porous aerostatic stage can be generalized. In detail, the influence of the spatial frequencies is analyzed quantatively, and the patterns of the insensitive frequencies which almost do not affect the linear motion error or angular motion error according to the rail length ratio and the number of the pad are verified. The relationship between the moment variation occurred inside the pads and the motion errors is also verified together.

• International Journal of Precision Engineering and Manufacturing
• /
• 제6권2호
• /
• pp.55-60
• /
• 2005

In order to develop the hydrostatic guideways driven by a core less linear motor for ultra precision machine tools, a prototype of guideway is designed and tested. A coreless linear DC motor with a continuous force of 156 N and a laser scale with a resolution of 0.01 ㎛ are used in the system. Experimental analysis on the static stiffness, motion errors, positioning error and its repeatability, micro step response and velocity variation of the guideway are performed. The guideway shows infinite stiffness within 50 N applied load in the feed direction, and by the motion error compensation method using the Active Controlled Capillary, 0.08 ㎛ linear motion error and 0.1 arcsec angular motion error are acquired. The guideway also reveals 0.21 ㎛ positioning error and 0.09 ㎛ repeatability, and it shows stable responses following a 0.01 ㎛ resolution step command. The velocity variation of feeding system is less than 0.6 ％. From these results, it is estimated that the hydrostatic guideway driven by a coreless linear motor is very useful for the ultra precision machine tools.

• 한국정밀공학회지
• /
• 제21권7호
• /
• pp.185-194
• /
• 2004

In order to analyze the motion errors of the aerostatic stage, it is necessary to consider the influence of the moment variation occurred inside the pads. In this paper, a motion error analysis method utilizing the transfer functions on the reaction force and moment is proposed, and general characteristics of the transfer functions are discussed. Calculated motion errors by the proposed method show good agreement with the ones calculated by Multi fad Method, which is considered the entire table as an analysis object. Also, by the introduction of the transfer function of motion errors, which represent the relationship between the spatial frequency components of the rail form error and motion errors, motional characteristics of the porous aerostatic stage can be generalized. In detail, the influence of the spatial frequencies is analyzed qualitatively, and the patterns of the insensitive frequencies which almost do not affect the linear motion error or angular motion error according to the rail length ratio and the number of the pad are verified. The relationship between the moment variation occurred inside the pads and the motion errors is also verified together.

• 한국정밀공학회지
• /
• 제22권4호
• /
• pp.188-193
• /
• 2005

The purpose of this paper is to develop a more precise damper model of the joint for the quantification of the joint mechanical properties. We modified the linear damper model of a knee joint model to nonlinear one. The normalized RMS errors between the simulated and measured joint angle trajectories during passive pendulum test became smaller with the nonlinear damper model than those of the linear one which indicates the nonlinear damper model is better in precision and accuracy. The error between the experimental and simulated knee joint moment also reduced with the nonlinear damper model. The reduction in both the trajectory error and the moment error was significant at the latter part of the pendulum test where the joint angular velocity was small. The nonlinearity of the damper was significantly greater at thin subject group and this indicates the nonlinearity is a useful index of joint mechanical properties.