• 전기학회논문지
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• 제63권11호
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• pp.1594-1601
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• 2014

In this paper, we propose the LQ servo control method for the automatic train control of urban rail vehicle. Structures of the conventional PID control and LQ servo controller are compared in order to demonstrate the simplicity of the proposed controller which doesn't have zeros of the closed loop systems. The energy consumption is dealt with as an object function to be minimized, which consists of the quadratic performance indices for optimal control with the input of the feedback linearization. The effectiveness of the proposed method is shown by the practical example, compared with the conventional PD controller.

• 한국자동차공학회논문집
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• 제12권4호
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• pp.129-138
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• 2004

In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems.

• 한국컴퓨터정보학회논문지
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• 제21권5호
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• pp.127-133
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• 2016

In this paper, an intelligent dimming control system is designed and implemented with the human visual response function using CDS sensor, PIR sensor and temperature sensor, etc. The proposed system is designed to detect a moving object by PIR sensor and to control the LED dimming considering the human visual response. Also, the dimming of LED light can modulate on the app, and simultaneously control dimming in real-world environments with smart phone app. A high-temperature warning or a fire hazard information is transmitted to user's smart phone according to sensor values and Data graph are provided as part of data visualization. Connecting the hardware controller, the proposed intelligent smart dimming control system is expected to contribute to the power reduction interior LED, smart grid building and saving home combining with internet of things.

• 제어로봇시스템학회논문지
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• 제7권1호
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• pp.1218-1225
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• 2001

This paper presents a design procedure for the supervisory controller(SC) of the high-speed train car. The proposed SC manages control logic and scenario of the overall train system, and monitors input/output signals among the sub-controllers in the system, The roles and functions of each sub-control system are defined, and the interfaces among the control systems are developed. Train control system is modeled with automata, and the model is implemented into a program using a computer-aided software engineering(CASE) tool, Object GEODE, The designed SC is verified and evaluated by using simulation. The SC is shown to successfully perform the designed functions without any errors.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.87-90
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• 2003

There are generally two temperature control methods using ac voltage regulators - the phase control method and the on-off control method. The phase control method uses thyristor's angles of extinction for the output power regulation and the on-off control method uses the control of on and off times for the output power regulation. Both of methods have the problems that are the unbalance of the three phase and surge current caused system's destruction. The main object of this study proposes a solution of problems of surge currents and unbalance of three phase when thyristor voltage regulator is switching. To solve the problem, It is proposes that the solution of surge currents is using a tap transformer and an additional switch with adjustable resistance and applies zero crossing of switching voltage of two input line to power load. This method is discuss and verified by computer simulations and experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1858-1862
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• 2005

Stepping motor normally operates without feedback and may loss the synchronization. This problem can be prevented by using positional feedback. This paper introduces one method for closed loop control of stepping motor and a method for combining full-step control and micro-step control. This combination controlling apparatus can perform position control with high accuracy in a high speed, so that it will not suffer from vibration (or hunting) problem when stopping motor. Controlling apparatus contains a position counter block for detecting rotor position of stepping motor, a driving block for supplying current to windings of stepping motor, a control block for comparing output signal of position counter block with command position (desired position) and outputting current command signal based on deviation between current position and command position of rotor. To output current command signal, the control block refers to a sine wave data table. This table contains value of duty cycle of Pulse Width Modulation signal. As the second object of this paper, the process of building this data table is also presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 하계학술대회 논문집
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• pp.504-509
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• 1990

This paper presents a decentralized adaptive control scheme for multi-Joint robot manipulators based on the independent joint control scheme. The control object is to achieve accurate tracking of desired Joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simple by a feedback controller which ensure stable and also a position-velocity-acceleration feedforward controller and also auxiliary signal, with adjustable gains. Simulation results are given for a two-link manipulator under independent control, proposed decentralized adaptive control of manipulator is feasible. In spite of a pay load variation and strong static and dynamic couplings that exist between the joints.

• 전기의세계
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• 제26권6호
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• pp.48-54
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• 1977

The object of this work is to study the optimal control strategy of constant speed characteristics for a D.C control motor under influence of disturbance. In the course of the analysis, the linearization and time invariance schemes on motor dynamics are presumed throughout under certain prescribed conditions and the performance measure for optimality is assumed to be quadratic in state and the control effort, with the initial and final time specified. When the motor speed is deviated from a stationary operating point by any external disturbance, the optimal continuous feedback control law is investigated by the application of the calculus of variation and realizability of the required control meachanism is suggested. Finally, the comparative study of the speed reasponses of the motor, with and without the optimal control effort is also presented to confirm the obtained results.

• 한국정밀공학회지
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• 제22권7호
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• pp.102-111
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• 2005

In this paper, we address a position control for a parallel stage, which is levitated and driven by electric magnetic force. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal force. A dynamic equation of the stage system is derived based on Newton-Euler method and it's special Jacobian matrix describing a relation between the limited velocity and Cartesian velocity is done. There are proposed two control methods for positioning which are Cartesian space controller and Actuator space controller. The control performance of the Cartesian space controller is better than the Actuator space controller in task space trajectory while the Actuator space controller is simpler than the Cartesian space controller in controller realization.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.213-220
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• 2008

The object of this paper is to propose a method to deal with the problem of modeling user specifications in approaches based on supervisory control and Petri nets. However, most of Petri Net approaches are based on forbidden states specifications, and these specifications are suitable the use of tool such as the reachability graph. But these methods were not able to show the user specification easily and these formalisms are generally limited by the combinatorial explosion that occurs when attempting to model complex systems. Herein, we propose a new efficient method using FSSTP (Forbidden Sequences of State-Transitions Problem) and theory of region. Also, to detect and avoid the deadlock problem in control process, we use DAPN method (Deadlock Avoidance Petri nets) for solving this problem in control model.