• International Journal of Computer Science & Network Security
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• 제22권4호
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• pp.1-12
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• 2022

In order to overcome the power fluctuation issues in photovoltaic (PV) smart grid-connected systems and the inverter nonlinearity model problem, an adaptive backstepping command-filter and a double second order generalized Integrators (DSOGI) controller are designed in order to tune the AC current and the DC-link voltage from the DC side. Firstly, we propose to present the filter mathematical model throughout the PV system, at that juncture the backstepping control law is applied in order to control it, Moreover the command filter is bounded to the controller aiming to exclude the backstepping controller differential increase. Additionally, The adaptive law uses Lyapunov stability criterion. Its task is to estimate the uncertain parameters in the smart grid-connected inverter. A DSOGI is added to stabilize the grid currents and eliminate undesirable harmonics meanwhile feeding maximum power generated from PV to the point of common coupling (PCC). Then, guaranteeing a dynamic effective response even under very unbalanced loads and/or intermittent climate changes. Finally, the simulation results will be established using MATLAB/SIMULINK proving that the presented approach can control surely the smart grid-connected system.

• 한국전자통신학회논문지
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• 제7권2호
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• pp.381-389
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• 2012

본 논문은 실외환경에서 이동하는 자율주행로봇의 위치추정 문제를 다룬다. 위성 GPS정보와 IMU센서 정보를 보정하여 로봇의 위치를 확률적으로 추정하는 MCL방법을 제안한다. MCL 방법은 로봇의 위치 예측 과정과 센서 정보에 의해 예측된 위치를 보정하는 과정으로 구성된다. 위치 예측을 위해 필요한 모션모델은 이동 로봇이 구동시의 직진 오차와 회전 오차를 포함한다. 보정은 신뢰도 값에 기반한 리샘플링에 의해 이루어진다. 신뢰도 값은 사용된 GPS와 IMU의 센서 모델에 의해 구해진다. 센서 모델을 구하기 위하여 GPS의 오차 범위를 반복 실험을 통해 구하였다. GPS는 로봇의 위치 추정을 위해 사용되며 IMU는 로봇의 이동 방향을 추정하기 위해 사용된다. 본 논문에서 제안한 방법을 실외환경에서의 이동로봇 위치 추정에 적용하였고, 실험결과를 분석하여 제안한 방법을 유효성을 보였다.

• 한국정밀공학회지
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• 제28권9호
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• pp.1025-1031
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• 2011

Take-out robots used for handling of the plastic parts manufactured with the injection mold are usually the gantry type that consists of long and thin links, The performance of the take-out robot is determined by the speed of the motion and the positioning accuracy to grab the part out of the mold, As the speed of the robot increases the flexure in the links of the take-out robot becomes more significant and it results in more residual vibration, The residual vibration deteriorates the positioning accuracy and compels the operator to slow down the motion of the robot. The typical method to reduce the vibration in the robot requires stiffening the links and/or slowing down the robot, Vibration control could achieve the desired performance without increasing the manufacturing cost or the operation cost that would be incurred otherwise, Considering the point-to-point nature of the task to be performed by the take-out robot the time-delay command (or input) shaping filter approach would be the most effective control method to be adopted among a few available control schemes. In this paper a direct adaptive command shaping filter (ACSF) algorithm has been modified and applied to design the optimal command shaping filters for various configuration of the take-out robot. Optimal filters designed by ACSF algorithm have been implemented on a take-out robot and the effectiveness of the designed filters in terms of vibration suppression has been verified for multiple positions of the robot.

• 조명전기설비학회논문지
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• 제28권4호
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• pp.56-61
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• 2014

In this paper, a control method using Sinusoidal Filter Controller of Silent Discharging Ozonizer is proposed and also the control methode performed robust control against variation of capacitance, command voltage and frequency. As the control system for this methode, Sinusoidal Filter Algorism can be simplified configuration of the power supply by using a low-pass filter. Through simulations and experiment results, the proposed control methode compensates for the high voltage waveform to the ozonizer.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.130.5-130
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• 2001

This paper presents a discrete-time sliding mode control method for linear time-invariant systems with matched uncertainties. In this paper, we suggest a method of adding a command generator using input shaping filter to a discrete-time sliding mode controller. We design the number of steps required to reach the sliding layer and the magnitude of a control input, respectively using the shaping filter. Therefore we can minimize the excitation of the resonance mode and increase the tracking performance of a system. Simulation results are included to show its effectiveness.

• 한국통신학회논문지
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• 제38A권12호
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• pp.1079-1085
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• 2013

위성 트랜스폰더의 설계에 있어서 위성체의 제한된 전원자원으로 인해 연산 알고리즘의 최소화와 하드웨어 구현에 필요한 연산 및 논리 자원의 최소화가 필수적이다. 아울러 위성의 환경에 따라 다양한 대역폭에 대한 효율적 신호처리가 요구되는데 이러한 조건들은 SDR기반의 디지털 방식 구현에 적합하다. 본 논문에서는 SDR 기반의 위성 트랜스폰더 수신부에서 반송파와 레인징 및 Command 부밴드 신호에 대해 각각의 대역과 데이터율을 가변적으로 선택 할 수 있는 하향 표본화기를 제안하였다. 제안된 하향표본화기는 한 개의 하프밴드 필터로부터 재귀적 연산구조를 통해 다수의 임의의 $2^M$-하향 표본화된 신호를 얻을 수 있으며, 연산량 및 구현에 따르는 논리자원을 최소화 할 수 있다. 또한 재귀적 연산 하드웨어 구현을 위한 알고리즘과 함께 하향표본화에 따르는 대역평탄도 및 에일리어싱을 분석하고 이를 FPGA 실험을 통하여 동작 및 성능을 입증하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.257-258
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• 2009

• 제어로봇시스템학회논문지
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• 제7권8호
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• pp.711-715
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• 2001

In this paper, an effective filter structure for filtering of target glint in tracking radar systems is used to improve the performance of CLOS(Command to Line-Of-Sight) guidance. The filter decouples range and angel channels to that it has a sound mathematical basis as well as computation efficiency as applied to the IMM algorithm. The effective filter structure in conjunction with CLOS guidance is tested by a series of simulation runs and it is shown to have superior performance compared with the other filter structures.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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• pp.138-140
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• 1994

In this paper, a three-phase active power filter using voltage- source PWM converter is designed to eliminate the harmonics and compensate the reactive power in the ac side. The predictive current control method is adopted, which provides constant switching frequency and low current ripple but has inherently one sampling error between the command and the actual current. Here we propose the algorithm which corrects this delay time. The converter voltage obtained from this current control can be accomplished by the space vector modulation method at a voltage-type converter. All control sequences of active filter is executed by a DSP which is designed to calculate floating points at very hight speed. Finally, the validity of this filter using the predictive current control method is demonstrated through experimental results.

• 제어로봇시스템학회논문지
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• 제13권8호
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• pp.726-734
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• 2007

Generally, a mobile robot is moved by original input programs. However, it is very hard for a non-expert to change the program generating the moving path of a mobile robot, because he doesn't know almost the teaching command and operating method for driving the robot. Therefore, the teaching method with speech command for a handicapped person without hands or a non-expert without an expert knowledge to generate the path is required gradually. In this study, for easily teaching the moving path of the autonomous mobile robot, the autonomous mobile robot with the function of speech recognition is developed. The use of human voice as the teaching method provides more convenient user-interface for mobile robot. To implement the teaching function, the designed robot system is composed of three separated control modules, which are speech preprocessing module, DC servo motor control module, and main control module. In this study, we design and implement a speaker dependent isolated word recognition system for creating moving path of an autonomous mobile robot in the unknown environment. The system uses word-level Hidden Markov Models(HMM) for designated command vocabularies to control a mobile robot, and it has postprocessing by neural network according to the condition based on confidence score. As the spectral analysis method, we use a filter-bank analysis model to extract of features of the voice. The proposed word recognition system is tested using 33 Korean words for control of the mobile robot navigation, and we also evaluate the performance of navigation of a mobile robot using only voice command.