• Journal of Information Processing Systems
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• 제18권4호
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• pp.510-523
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• 2022

Considering the problems of poor control effect, weak disturbance rejection ability and adaptive ability of two-wheeled self-balanced robot (TWSBR) systems on undulating roads, this paper proposes a fuzzy neural network active disturbance rejection controller (FNNADRC), that is based on fuzzy neural network (FNN) for online correction of active disturbance rejection controller (ADRC)'s nonlinear control rate. Firstly, the dynamic model of the TWSBR is established and decoupled, the extended state observer (ESO) is used to compensate dynamically and linearize the upright and displacement subsystems. Then, the nonlinear PD control rate and FNN are designed, and the FNN is used to modify the control parameters of the nonlinear PD control rate in real time. Finally, the proposed control strategy is simulated and compared with the traditional ADRC and fuzzy active disturbance rejection controller (FADRC). The simulation results show that the control effect of the proposed control strategy is slightly better than ADRC and FADRC.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2002년도 전력전자학술대회 논문집
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• pp.598-602
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• 2002

This paper presents the 3-phase hybrid series active power filter with dynamic voltage restorer(DVR) which serve as an energy buffer and current harmonics blocking resistor connected to sensitive loads, such as, to compensate voltage dips and current harmonics in power distribution system. The DVR is to inject a dynamically controlled voltage generated by a forced commutated converter in series to the bus voltage by means of a booster transformer. The momentary amplitudes of the three injected phase voltages are controlled such as to eliminate any detrimental effects of a bus fault to the load voltage. The proposed system is able to simultaneously compensate current harmonics, voltage fluctuating and voltage unbalance in power distribution systems. The reference phase angle detected by synchronized with the positive sequence component of the unbalanced source by using symmetrical component transformation. The effectiveness of proposed system is verified by the computer simulation.

• 로봇학회논문지
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• 제6권2호
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• 전자공학회논문지S
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• 제34S권12호
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• pp.60-69
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• 1997

We present an average method based on the multirate signal processing and dynamic allocation average for the purpose of monitoring event-related potentials(ERP) and continuously and dynamically. In the proposed method, first, latency shifts are detected through the cross correlation between a current response and the reference response. Then, the multirate signal processing which is composed of up-sampler, lowpass filter, and down sampler is performed to compensate the latency shifts of the reference response, therefore we obtain the reference response with a peak latencies compenated by those of a current response. Finally, the single response is obtained by averaging the compensated reference response and a current response. In the simulation, the results of quantitative evaluation by simulation and the results using linical data are presented. From the result, the proposed method reflects dynamic time-varying ERP more exactly than previous methods and is also effective in consecutive monitoring of ERP.

• 전기학회논문지P
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• 제58권2호
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• pp.101-107
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• 2009

This paper deal with development of on-line type voltage sag compensation system using supercapacitor EDLC to solve the voltage sag problems which are considered to be dominant disturbances affecting the power quality. With the wide use of semiconductor devices in electrical equipment, modem-type loads are becoming increasingly sensitive to the voltage sags and the disturbances prove to be costly to industries. Supercapacitor EDLC is employed to compensate dynamically for the voltage sag of system with sensitive loads. This capacitor has higher energy density than the electrolytic capacitor. Also, this capacitor has a lot of advantage such as no maintenance, longer life cycle and faster charge-discharge time than the battery system. Therefore, in this paper, the energy design scheme of supercapacitor and the configuration technique of on-line type voltage sag compensation systems are newly introduced. According to the results of experimental of prototype 5[kVA] system, it is verified that the developed system has effectiveness of voltage sag compensation by using a supercapacitor EDLC.

• 한국ITS학회 논문지
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• 제10권4호
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• pp.100-106
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• 2011

무선통신환경에서는 RF신호가 매우 심하게 변하는데, 이러한 신호의 변화는 특히 차량통신환경에서 더욱 심해진다. 자동이득제어는 무선통신시스템에서 신뢰성 있는 통신환경을 제공하고 급격하게 변하는 수신신호를 보상하데 중요한 역할을 한다. 본 논문에서는 수신신호세기값과 아날로그-디지털변환값 두 가지 신호를 이용하는 간단하고 향상된 자동이득 제어기법에 대해 논의한다. 시물레이션과 실제 환경에의 측정을 통해 제안된 기법의 성능을 검증한다.

• 전력전자학회논문지
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• 제6권3호
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• pp.231-242
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• 2001

본 논문에서는 영구자석형 동기 전동기 고정자의 상 권선 인덕턴스에 의하여 지연되는 정현과 서류 지연 성분을 보상함으로써 전동기 발생 토크 특성을 개선하는 방법과 구현 방법을 제시하였다. 이 방법은 축 변환을 사용하지 않기 때문에 하드와이어드 로직에 의하여 구현함으로써 구현이 간단하고 축 변환에 의한 지연을 제거할 수 있다. 특히, 고정자 상 권선 인덕턴스에 의한 지연성분은 전동기 회전 속도에 따라 변화하며, 본 논문에서 제시한 방법을 이용하면 전동기 회전 속도에 따른 동적인 보상을 할 수 있다. 존 논문에서 제시한 방법의 효과를 입증하기 위하여 4극 3상 영구자석형 동기 전동기를 대상으로 실험을 행하였으며, 실험결과 모든 운전 속도에서 발생 토크가 증가함을 확인하였다.

• 한국시뮬레이션학회논문지
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• 제16권2호
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• pp.37-44
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• 2007

EWMA(지수가중평균)을 사용한 제어 방법은 반도체 제조 공정의 런투런 제어 환경에서 사용되는 대표적인 제어 방법이다. EWMA 제어에서는 제어 모수 값의 선택이 제어 결과에 주된 영향을 미치기 때문에, 공정 상황에 적합한 제어 모수 값을 사용하는 것이 중요하다. 불안정적인 공정 상황에서는 변화하는 공정 상황에 적합한 값으로 EWMA 제어 모수를 동적으로 변경하면서 제어해 주는 것이 고정된 모수 값을 사용하는 EWMA 제어에 비해 효율적이다. 본 연구에서는 동적인 EWMA 제어 모수를 사용한 기존 연구들을 살펴보고 이들의 단점을 보완한 새로운 알고리즘을 제시하며, 시뮬레이션을 통해 우수한 수행 결과를 확인하였다.

• Journal of Power Electronics
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• 제18권6호
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• pp.1889-1900
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• 2018

Harmonic current mitigation is vital in power distribution networks owing to the inflow of nonlinear loads, distributed generation, and renewable energy sources. The active power filter (APF) is the current electrical equipment that can dynamically compensate for harmonic distortion and eliminate asymmetrical loads. The compensation performance of an APF largely depends on the control strategy applied to the voltage source inverter (VSI). Model predictive control (MPC) has been demonstrated to be one of the effective control approaches to providing fast dynamic responses. This approach covers different types of power converters due to its several advantages, such as flexible control scheme and simple inclusion of nonlinearities and constraints within the controller design. In this study, a finite control set-MPC technique is proposed for the control of VSIs. Unlike conventional control methods, the proposed technique uses a discrete time model of the shunt APF to predict the future behavior of harmonic currents and determine the cost function so as to optimize current errors through the selection of appropriate switching states. The viability of this strategy in terms of harmonic mitigation is verified in MATLAB/Simulink. Experimental results show that MPC performs well in terms of reduced total harmonic distortion and is effective in APFs.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2015년도 추계학술대회
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• pp.526-529
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• 2015

스마트폰 산업이 발전하면서 내부 하드웨어 장치들이 고사양의 장치가 되었고 이전 보다 많은 전력소비를 요구 한다. 그러므로 고용량의 배터리가 필요 하지만 스마트폰의 소형화로 인해 부피가 큰 배터리를 탑재하는 것에 한계가 있다. 리눅스 커널은 이러한 한계점을 소프트웨어 기술로 보완하기 위해 DVFS Mechanism을 제공 한다. DVFS는 동적으로 CPU의 동작주파수를 조정 하여 CPU의 전력소비를 줄이는 Mechanism이다. DVFS에서 기본정책인 ondemand는 up_threshold를 넘을 때 마다 최대 동작주파수를 적용 하여 상당 시간 유지되므로 CPU 자원의 낭비를 초래 한다. 본 논문에서는 이러한 점에 착안하여 계속해서 현재 동작주파수 대비 높은 CPU 이용률을 유지함으로써 CPU자원의 낭비를 막고 에너지를 절약 하는 기법을 제안한다.