• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.50-53
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• 1988

This paper presents an approach to the position control of a robot manipulator by using a self-tuning pole-placement controller with an inverse model. The linearized independent difference equations of manipulator motion are obtained, and the parameters of these models are estimated on line. The controller is composed of two parts, the primary controller obtains desired torques by using an inverse model and the secondary controller computes variational torques on the basis of induced perturbation equations by minimizing a quadratic criterion with a closed-loop pole-placement. Simulation is performed to demonstrate the effectiveness of this approach.

• Journal of Power Electronics
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• v.10 no.5
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• pp.491-497
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• 2010

This paper proposes an estimation algorithm for the electrical parameters of synchronous reluctance motors (SynRMs) by using a synchronous PI current regulator at standstill. In reality, the electrical parameters are only measured or estimated in limited conditions without fully considering the effects of the switching devices, connecting wires, and magnetic saturation. As a result, the acquired electrical parameters are different from the real parameters of the motor drive system. In this paper, the effects of switching devices, connecting wires, and the magnetic saturation are considered by simultaneously using the short pulse and closed loop equations of resistance and synchronous inductances. Therefore, the proposed algorithm can be easily and safely implemented with a reduced measuring time. In addition, it does not need any external or additional measurement equipment, information on the motor's dimensions, and material characteristics as in the case of FEM. Several experimental results verify the effectiveness of the proposed algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.185-189
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• 1992

This paper prsents an end-point control of a one-link flexible arm with a payload by using closed loop control. Tip position of arm is shifted by the base motion according to DC servomotor, whivh is driven by a feedback signal composed of the tip displacement and the estimated tip velocity. The shifting problem of the arm from initial position to desired position is considered by the variation of the displacement gain Gd and velocity agin Gv. Theoretical results are obtained by applying the method of the Laplace transform to the governing equations and the method of numerical inversion. This system is composed of a flexible arm with payload, DC servomotor, and a ballscrew mechanism. The flexible arm is mounted on a mobile stage driven by a servomotor and ballscrew. In controlling the tip displacement of flexible arm, the fundamental bode vibration is supressed more rapidly with an increase of the velocity feedback gain Gv and the feedback displacemenmt gain Gd. Theretical responses are approximately in good agreement with those obtained experimentally.

• Smart Structures and Systems
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• v.30 no.5
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• pp.537-544
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• 2022

The optimal design of structural composite materials is a research topic that attracts the attention of lots researchers. For many more thirty years, there has been increasing interest in the applications in all kinds of topics, which means taking advantage of fuzzy set theory, fuzzy analysis, and fuzzy control for designing high-performance and efficient structural systems is a fundamental concern for engineers, and many applications require the use of a systems approach to combine structural and active control systems. Therefore, an intelligent method can be designed based on the mitigation method, and by establishing the stable of the closed-loop fuzzy mitigation system, the behavior of the closed-loop fuzzy mitigation system can be accurately predicted. In this article, the intelligent algorithm and optimum design of fuzzy theory for structural control has been provided and demonstrated effective and efficient in practical engineering issues.

• International Journal of Automotive Technology
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• v.5 no.2
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• pp.109-114
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• 2004

This paper presents a closed-loop evaluation of the Vehicle Stability Control (VSC) system using a vehicle simulator. Human driver-VSC interactions have been investigated under realistic operating conditions in the laboratory. Braking control inputs for vehicle stability enhancement have been directly derived from the sliding control law based on vehicle planar motion equations with differential braking. A driving simulator has been validated using actual vehicle driving test data. Real-time human-in-the loop simulation results in realistic driving situations have shown that the proposed controller reduces driving effort and enhances vehicle stability.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.4
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• pp.139-145
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• 2004

This paper presents human-in-the-loop evaluations of vehicle stability control(VSC) system using a driving simulator. A driving simulator which contains full vehicle nonlinear model is evaluated by using actual vehicle test data on the same driving conditions. Braking control inputs for Vehicle Stability Control system have been directly derived from the sliding control law based on vehicle planar motion equations with differential braking. Closed-loop simulation results at realistic driving situations have shown that the proposed controller reduces driving effort of a driver and enhances stability of a vehicle.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.3
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• pp.50-61
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• 1994

A method for performing dynamic design sensitivity analysis of vehicle suspension systems which have three dimensional closed-loop kinematic structure is presented. A recursive form of equations of motion for a MacPherson suspension system is derived as basis for sensitivity analysis. By directly differentiating the equations of motion with respect to design variables, sensitivity equations are obtained. The direct generalize for the application of multibody dynamic sensitivity analysis. Based on the proposed sensitivity analysis, optimal design of a MacPherson suspension system is carried out taking unsprung mass, spring and damping coefficients as design variables.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.249-254
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• 2009

This paper studies the problem of pole placement by an LQ controller for system having two distinct real poles. Using the so-called Pole's Moving Range (PMR) drawn in the s-plane and relational equations between closed-loop system poles and weighting matrices, we calculate the state weighting matrix to move two distinct real poles to a pair of complex poles. By numerical examples, we show that the proposed method is applied to improve system performance.

• Journal of Electrical Engineering and Technology
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• v.5 no.2
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• pp.197-208
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• 2010

Unified power flow controller (UPFC) is the most reliable device in the FACTS concept. It has the ability to adjust all three control parameters effective in power flow and voltage stability. In this paper, a linearized model of a power system installed with a UPFC has been presented. UPFC has four control loops that by adding an extra signal to one of them, increases dynamic stability and load angle oscillations are damped. In this paper, after open loop eigenvalue (electro mechanical mode) calculations, state-space equations have been used to design damping controller and it has been considered to influence active and reactive power flow durations as the input of damping controller, in addition to the common speed duration of synchronous generators as input damper signal. To increase stability, further Lead-Lag and LQR controllers, a novel on-line adaptive controller has been used analytically to identify power system parameters. Closed-loop calculations of the electro mechanical mode verify the improvement of system pole placement after controller designing. Suitable operation of adaptive controller to decrease rotor speed oscillations against input mechanical torque disturbances is confirmed by the simulation results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.4 s.235
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• pp.534-539
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• 2005

Nodal displacements are referred to the initial configuration in the total Lagrangian formulation and to the last converged configuration in the updated Lagrangian furmulation. This research proposes a relative nodal displacement method to represent the position and orientation for a node in truss structures. Since the proposed method measures the relative nodal displacements relative to its adjacent nodal reference frame, they are still small for a truss structure undergoing large deformations for the small size elements. As a consequence, element formulations developed under the small deformation assumption are still valid for structures undergoing large deformations, which significantly simplifies the equations of equilibrium. A structural system is represented by a graph to systematically develop the governing equations of equilibrium for general systems. A node and an element are represented by a node and an edge in graph representation, respectively. Closed loops are opened to form a spanning tree by cutting edges. Two computational sequences are defined in the graph representation. One is the forward path sequence that is used to recover the Cartesian nodal displacements from relative nodal displacement sand traverses a graph from the base node towards the terminal nodes. The other is the backward path sequence that is used to recover the nodal forces in the relative coordinate system from the known nodal forces in the absolute coordinate system and traverses from the terminal nodes towards the base node. One open loop and one closed loop structure undergoing large deformations are analyzed to demonstrate the efficiency and validity of the proposed method.