• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.456-460
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• 1996

A nonlinear control scheme for preventing limit cycle due to the nonlinearity of themulti-step bang-bang actuator in mechanical position control systems is proposed. A linearized model, SIDF, fora multi-step bang-bang actuator is introduced to compensate the nonlinearity of the multi-step bang-bang actuator. Using that model, a $H_{\infty}$robust controller for position control systms with a bang-bang actuator is proposed by loop shaping tecniques with normalized coprime factorization stabilization to address the robustness. The proposed scheme needs a smaller deadband as a result of compensating the nonlinearity of the bang-bang actuator. A single-axis servo system is served in order to verify the proposed control scheme experimentally. Experimental results show that the controller can satisfy the special intersts, silent contact switching of the actuator.r.

• Journal of Mechanical Science and Technology
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• 제14권10호
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• pp.1081-1088
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• 2000

In this paper, a compliance control strategy for robot manipulators that employs a self-adjusting stiffiness function is proposed. Based on the contact force, each entry of the diagonal stiffness matrix corresponding to a task coordinate in the operational space is adaptively adjusted during contact along the corresponding axis. The proposed method can be used for both the unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results involving a two-link direct drive manipulator interacting with an unknown environment demonstrates the effectiveness of the proposed method.

• 한국분무공학회지
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• 제23권1호
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• pp.9-15
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• 2018

Breakup lengths of circular and elliptical liquid jets in a subsonic crossflow were experimentally studied. Two circular-shaped and four elliptical-shaped plain-orifice injectors, which had different aspect ratios and orifice length to diameter ratios, were used to provide various liquid jet conditions such as steady, cavitation, and hydraulic flip. By varying the injection pressure drop from 1 bar to 6 bar, spray images were taken using a shadowgraph technique. Breakup lengths were measured and analyzed. As the aspect ratio in orifices increased, liquid column breakup lengths normalized by the equivalent diameter were reduced irrespectively of the switching of the major or minor axis to the crossflow. It was also found that when hydraulic flip developed inside the orifice, x-directional breakup lengths more decreased for both circular and elliptical liquid jets.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.20-25
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• 1998

This paper proposes a new compliant contact control strategy for the robot manipulators accidentally interacting with an unknown environment. The main features of the proposed method are summarized as follows: First, each entry in the diagonal stiffness matrix corresponding to the task coordinate in Cartesian space is adaptively adjusted during con-tact along the corresponding axis based on the contact force with its environment. Second, it can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end effector. Third, the adjusted stiffness gains are automatically recovered to initially specified stiffness gains when the task is changed from constrained motion to unconstrained motion. The simulation results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 전력전자학술대회 논문집
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• pp.356-359
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• 2001

In this paper, the new control algorithm is proposed that compensates instantaneously the active and reactive components of the input currents by the synchronous d,q axis conversion of a single-phase current in controlling the single-phase AC/DC parallel converters for a high speed train. The leakage inductance of a transformer was used as a boost inductance and the ripple of a transformer's primary current was reduced considerably by the parallel operation of the two converters with a proper switching phase-shift. The stable and fast control response characteristic is certificated by a simulation.

• 대한기계학회논문집A
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• 제40권9호
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• pp.783-790
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• 2016

IMU기반 자세결정에 있어 추정 정확도의 저하요인 중 주요한 한 가지는 운동체의 가속도이다. 이는 가속도가 크게 발생하는 경우 가속도계 신호는 더이상 수직축 참조벡터가 될 수 없기 때문이다. 이에 대한 대책으로 일부 자세추정 알고리즘에서는 가속도 보상 메카니즘이 적용되어 왔다. 가장 보편적이고 간단한 스위칭 방법부터 적응추정방식, 가속도 모델기반 방식 등이 제안되어 왔으나, 이들 보상 메카니즘에 대한 비교분석은 이루어 지지 않았다. 본 논문은 쿼터니언기반의 Pseudo 칼만필터를 바탕으로 하여 세 가지 가속도 보상 메커니즘의 성능을 비교분석하였다. 가속조건 실험 분석을 통해 다음을 확인할 수 있었다. (1) 가속구간에서의 추정정확도 저하를 방지하기 위해선 가속도 보상 메카니즘이 반드시 필요하다. (2) 단순 스위칭 방법도 상당한 효과를 보였으나, 보다 정교한 적응추정 방식과 가속도 모델방식이 동등수준으로 가장 정확한 결과를 보였다.

• 한국세라믹학회지
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• 제43권11호
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• pp.688-692
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• 2006

Ferroelectric lanthanides-substituted $Bi_4Ti_3O_{12}$ $(Bi_{4-x}Ln_xTi_3O_{12}, BLnT)$ thin films approximately 200 nm in thickness were deposited by metal organic chemical vapor deposition onto Pt(111)/Ti/SiO$_2$/Si(100) substrates. Many researchers reported that the lanthanides substitution for Bi in the pseudo-perovskite layer caused the distortion of TiO$_6$ octahedron in the a-b plane accompanied with a shift of the octahedron along the a-axis. In this study, the effect of lanthanides (Ln=Pr, Eu, Gd, Dy)-substitution and crystallization temperature on their ferroelectric properties of bismuth titanate $(Bi_4Ti_3O_{12}, BIT)$ thin films were investigated. As BLnT thin films were substituted to lanthanide elements (Pr, Eu, Gd, Dy) with a smaller ionic radius, the remnant polarization (2P$_r$) values had a tendency to increase and made an exception of the Eu-substituted case because $Bi_{4-x}Eu_xTi_3O_{12}$ (BET) thin films had the smaller grain sizes than the others. In this study, we confirmed that better ferroelectric properties can be expected for films composed of larger grains in bismuth layered peroskite materials. The crystallinity of the thin films was improved and the average grain size increased as the crystallization temperature,increased from 600 to 720$^{\circ}C$. Moreover, the BLnT thin film capacitor is characterized by well-saturated polarization-electric field (P-E) curves with an increase in annealing temperature. The BLnT thin films exhibited no significant degradation of switching charge for at least up to $1.0\times10^{11}$ switching cycles at a frequency of 1 MHz. From these results, we can suggest that the BLnT thin films are the suitable dielectric materials for ferroelectric random access memory applications.

• 전력전자학회논문지
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• 제17권5호
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• pp.401-408
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• 2012

A simple on-line elimination strategy of the dead time and inverter nonlinearity using the current slope information is presented for a PWM inverter-fed IPMSM (Interior Permanent Magnet Synchronous Motor) drive. In a PWM inverter-fed IPMSM drive, a dead time is inserted to prevent a breakdown of switching device. This distorts the inverter output voltage, resulting in a current distortion and torque ripple. In addition to the dead time, inverter nonlinearity exists in switching devices of the PWM inverter, which is generally dependent on operating conditions such as the temperature, DC link voltage, and current. The proposed scheme is based on the fact that the d-axis current ripple is mainly caused by the dead time and inverter nonlinearity. To eliminate such an influence, the current slope information is determined. The obtained current slope information is processed by the PI controller to estimate the disturbance caused by the dead time and inverter nonlinearity. The overall system is implemented using DSP TMS320F28335 and the validity of the proposed algorithm is verified through the simulation and experiments. Without requiring any additional hardware, the proposed scheme can effectively eliminate the dead time and inverter nonlinearity even in the presence of the parameter uncertainty.

• 전력전자학회논문지
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• 제11권5호
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• pp.395-403
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• 2006

본 논문에서는 전압형 PWM 인버터에서의 새로운 데드 타임 보상 기법을 제안하였다. 전압형 PMW 인버터의 경우 데드 타임 영향과 스위칭 소자의 비선형적인 특성에 의해 전압 왜곡이 발생한다. 특히, 전압 왜곡은 정지 좌표계 상전류에 5차와 7차, 그리고 동기 좌표계 상전류에는 6차 고조파를 발생시킨다. 그 결과 d축 동기 PI 전류 제어기의 적분기 출력은 인버터 기본파 주파수의 6배에 해당하는 맥동을 가지고 있다. 본 논문에서는 d축 전류 제어기의 적분기 출력 신호를 데드 타임 보상을 위한 제어 신호로 사용하였다. 제안된 방법은 실험과 시뮬레이션을 통해 타당성을 검증하였다.

• The Korean Journal of Ceramics
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• 제6권2호
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• pp.110-115
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• 2000

$SrBi_2Ta_2O_9$ thin films were deposited at room temperature on the usual (111) oriented Pt bottom electrodes using r.f. magnetron sputtering, and then post-annealed at 650-$800^{\circ}C$ for 30min in oxygen flow. Low temperature processing which shows the preferred oriented SBT thin films was obtained by controlling the sputtering pressure and/or Sr content in target. The orientation and grain growth behavior of SBT thin films were dependent on Sr contents in films. With increasing the excess Bi content up to 50% in SBT thin films, it was possible to lower the onset temperature of grain growth. The c-axis preferred oriented SBT thin films were well-grown under the condition of low post-annealing($650^{\circ}C$) by lowering post-annealing pressure. After $10^{11}$ switching cycles, no polarization degradation was observed in both preferred oriented SBT capacitors.