• 한국전자통신학회논문지
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• 제15권5호
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• pp.899-906
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• 2020

전동기의 제어에 있어서 전동기의 수학적 모델 오차와 작용하는 외란에 대해서 강건하며 정밀한 제어의 성능을 요구한다. 강건하며 정밀한 제어를 위하여 외란 관측기를 설계하여 부하변동을 추정하고, 공칭 시스템으로 설계된 백스텝핑 제어기에 적용하였다. 설계된 시스템의 제어 성능을 확인하고자 120 [W]급의 BLDCM(Brushless Direct Current Motor)에 적용하여, 위치제어 및 속도제어의 결과 외란을 극복하고 정상상태 오차가 영으로 수렴하며, 점근적 안정한 결과를 확인할 수 있다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.786-791
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• 2003

This paper proposes an adaptive control algorithm for nonholonomic mobile robots with unknown parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and their values can be estimated simply by using update laws proposed in an adaptive control scheme of this research. The simulation results are provided to show the effectiveness of the accurate tracking capability of the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.

• 한국전자통신학회논문지
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• 제8권12호
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• pp.1865-1874
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• 2013

본 논문은 IPMSM(Interior Permanent Magnet Synchronous Motor)의 센서리스 운전을 위해 엔센티드 칼만필터를 기반으로 하는 속도와 위치 추정기의 설계방법을 제안한다. 제안된 방법은 회전축에 동기하여 설계된 관측기에 비해, 간단한 전류계측이 가능하고 관측기의 비선형 항이 포함되도록 상태 추정기를 설계하였다. 제어기는 비선형 백스텝핑 제어기법으로 구성하고, 추정된 속도와 위치정보로 속도와 전류제어를 수행하였다. 설계된 추정기의 성능은 시뮬레이션을 통해 dq축에 동기하여 설계된 추정기의 성능과 비교 검증하였다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.943-956
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• 2020

In this study, the motion control problem of the vessel towed by a towing ship (tugboat) is considered. The non-powered towed ship is dragged by the towing ship. Even though the towed ship is equipped with propulsion systems, they cannot be used at low or constant speeds due to safety issues. In narrow canals, rivers, and busy harbor areas especially, where extreme tension is required during towing operation, the course stability of the towed vessel depends on the towing ship. Therefore, the authors propose a new control strategy in which the rudder system of the towed vessel is activated to provide its maneuverability. Based on the leader-follower system configuration, a nonlinear mathematical model is derived and a back-stepping control is designed. By simulation and experiment results with a comparison study, the usefulness and effectiveness of the proposed strategy are validated.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 하계종합학술대회 논문집(5)
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• pp.23-26
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• 2000

Generally, the wheel-driven mobile robot systems, by their structural property, have nonholonomic constraints. These constraints are not integrable and cannot be written as time derivatives of some functions with respect to the generalized coordinates. Hence, nonlinear approaches are required to solve the problems. In this paper, the trajectory controller of wheeled mobile robot systems is suggested to guarantee its convergence to reference trajectory. Design procedure of the suggested trajectory controller is back-stepping scheme which was introduced recently in nonlinear control theory. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation, the trajectory controller is applied to differentially driven robot system and car-like mobile robot system on the assumption that the trajectory planner be given.

• 한국전자통신학회논문지
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• 제17권5호
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• pp.867-872
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• 2022

부하의 영향은 전동기의 정밀한 속도조절에 있어서 중요한 요소이다. 본 연구에서는 수학적 모델로 용이하지 않은 부하 및 수학적 모델의 오차와 비선형항을 포함하는 외란을 하나의 상태로 정의하고, 이를 추정할 수 있는 상태 관측기를 설계한다. 그리고 상태 관측의 추정오차가 0으로 수렴할 수 있도록 관측이득을 설정하고, 추정된 상태를 백스텝핑 제어기에 사용하여 정밀한 속도 추종이 가능한 제어기를 설계한다. 1 [hw] 급의 매입형 영구자석 동기전동기에 적용한 결과 우수한 상태관측과 추종 성능을 확인할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.63.6-63
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• 2002

The technique of backstepping have can avoid cancellations of useful nonlinearities. It is widely used in nonlinear adaptive control. But it is difficult to use this technique for uncertain nonlinear systems. Sliding mode control has robustness and application with feedback linearization. This paper shows that the robustness can be used for back stopping technique to solve the uncertainty problem and to improve the scalar design problem using Control Lyapunov function which is the motivation of back stepping technique with recursive design for high-order systems. In the respect of SMC, the result of this paper does not need to satisfy the matching condition.

• 한국항공우주학회지
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• 제45권9호
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• pp.711-723
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• 2017

본 연구에서는 재형상 특성을 지닌 유기적 비행 어레이의 비행 제어 시스템 설계에 대한 내용을 제안하였다. 단일 덕티드팬의 결합과 분리를 기반으로 구성되는 유기적 비행어레이는 주어진 임무나 주변 상황에 대해 유기적으로 어레이 형상을 변화시킬 수 있는 장점을 가진다. 이와 더불어 덕티드팬 비행체 기반이기 때문에 호버링이 가능하여 실내 정찰, 통신 중계, 레이더 재밍과 같은 미션에 유용하게 사용 된다. 비행 어레이의 동역학모델링은 단일 덕티드팬 비행체의 동역학 모델을 기반으로 구성되며, 비선형 제어기법을 적용하기 위해 어파인 형태의 동역학 식에 대한 유도를 수행한다. 비행체 자세 제어를 위해 Backstepping 제어기법을 적용하였으며 PID 제어기법을 통해 위치 제어 루프를 구현한다. 또한 수치 시뮬레이션을 통해 제안 된 제어기가 주어진 상황에서 충분한 성능을 보이는지를 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2151-2154
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• 2003

Internet is deeply rooted in everyday life and many things are performed using internet in real-world, therefore internet users increased because of convenience. Also internet accident is on the increase rapidly. The security vendor developed security system to protect network and system from intruder. Many hackings can be prevented and detected by using these security solutions. However, the new hacking methods and tools that can detour or defeat these solutions have been emerging and even script kids using these methods and tools can easily hack the systems. In consequence, system has gone through various difficulties. So, Necessity of intruder trace-back technology is increased gradually. Trace-back technology is tracing back a malicious hacker to his real location. trace-back technology is largely divided into TCP connection trace-back and IP packet trace-back to trace spoofed IP of form denial-of-service attacks. TCP connection trace-back technology that autonomously traces back the real location of hacker who attacks system using stepping stone at real time. In this paper, We will describe watermark trace-back system using TCP hijacking technique to supplement difficult problem of connection maintenance happened at watermark insertion. Through proposed result, we may search attacker's real location which attempt attack through multiple connection by real time.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집B
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• pp.879-885
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• 2000

This study is carried out to make clear the reason of occurrence of sudden acceleration incident of AT vehicle. The stepping motor is used to control the engine speed at idle by compensating the volume of air. By the way it's valve is contaminated by blow-by gas, deposit and back fire etc. This contamination could occur the load of motor at low temperature. This plays an important role in damaging the motor's coil with the motor's performance interfered. If it's coil is damaged the ISC could malfunction. If these phenomena occur, the speed of engine may increase or the engine may stall with hunting.