• Journal of the Korean Society for Precision Engineering
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• v.29 no.9
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• pp.986-994
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• 2012

This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera's focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.

• Journal of the Institute of Convergence Signal Processing
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• v.1 no.2
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• pp.160-168
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• 2000

In this paper, we study how the remote controllable mobile robot which could come to many via points with FLC(Fuzzy Logic Control) efficiently. The fabricated robot stop after the movement of single path method by four kinds of commands (forward, backward, turn left, turn right). To reduce disadvantages of this driving type, this paper reduce via points to goal position base on map which get from senor, let robot drive via point to via point on optimized path. An algorithm for the avoidance of unexpected obstacles by FLC is developed. And these algorithms are confirmed by computer simulations

• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.6
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• pp.498-505
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• 2001

This paper shows how to design a global control of water pumping system using PV array, and tracked maximum power point of PV array only the inverter using the vector control of BLDC motor, and finding the relationships among the DC magnitudes and AC ones in order to omit the DC/DC converter. Conventional MPPT controller was unstable of reason of the ripple-current of DC link in three-phase invertor. Thus, in this paper the control algorithm of BLDC motor using $i_qs$ current is composed to improve the insecurity of conventional MPPT controller To prove the excellence of the proposed method, the contents of this paper is analyzed by means of simulation and testing for the results applying the method that J. A Domfnguez had applied to asynchronous motor to BLDC motor and that of the proposed method in this paper.

• Journal of the Korea institute for structural maintenance and inspection
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• v.16 no.3
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• pp.60-66
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• 2012

This paper aims to constitute a feedback vibration control system using wireless sensor networks and experiment it on a model structure to verify its effectiveness. For the purpose, we set up a feedback vibration control system composed of a wireless input/output(I/O) sensor node based on bluetooth, a home-made shear type MR damper, a shaker which generates a constant size of sine wave, and a simple beam model structure. The vibration control experiment was performed by shaking the 1/4 point of beam with a shaker. At the moment of shaking, we controled the vibration with MR damper which was placed vertically on the center of beam. Simultaneously, by acquiring acceleration response at the 2/4 point of beam, we evaluated the effectiveness of control capability. The control command was set to send a voltage signal to MR damper when the acceleration response, acquired from the wireless I/O sensor node placed at the center of beam, was more than a certain amount. Although the realtime feedback vibration control system constituted in this paper is effective only within a limited command system, it has been proven that the system was able to effectively decrease the vibration of structure by generating a control command aimed for realtime purpose. The system also showed a possibility to be used as a structural response control system adapting a variety of semi-active control algorithm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.9
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• pp.436-443
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• 2017

Recently, the development of new energy technologies has become a hot topic due to problems,such as global warming. Unlike renewable energy technologies, such as solar energy generation, solar power, and wind power, which are optimized to achieve medium or above output power, the output power of energy harvesting technology is very small and has not received much attention. On the other hand, as the mobile industry has been revitalized recently, the utility of energy harvesting technology has been reevaluated. In addition, the technology of tracking the maximum power point has been actively researched. This paper proposes a new MPPT(Maximum Power Point Tracking) control method for a TEM(thermoelectric module) for load resistance. The V-I curve characteristics and internal resistance of TEM were analyzed and the conventional MPPT control methods were compared. The P&O(Perturbation and Observation) control method is more accurate, but it is less economical than the CV (Constant Voltage)control method because it usestwo sensors to measure the voltage and current source. The CV control method is superior to the P&O control method in economic aspects because it uses only one voltage sensor but the MPP is not matched precisely. In this paper, a method wasdesigned to track the MPP of TEM combining the advantages of the two control method. The proposed MPPT control method wasverified by PSIM simulation and H/W implementation.

• Proceedings of the IEEK Conference
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• 2000.06c
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• pp.13-16
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• 2000

In this paper, we propose hybrid control method of neural network using the 3-point search algorithm. Proposed control method is searched the weight using the 3-point search algorithm for off-line then control the on-line. In order to verify the usefulness of the proposed method, we simulated the proposed control method with one link manipulator system and confirmed the excellency.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.5
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• pp.789-797
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• 2003

In the procedure of the hydraulic control system design, a linearized approximate equation described by the first order terms of Taylor series has been widely used. Such a linearized equation is effective just near the operating point, However, pressure and flowrate in actual hydraulic systems are usually not confined near an operating point. This study suggests a new linearized flow equation for a servovalve as a modified form of the conventional linearized flow equation. Subsequently, a procedure to determine effective operating point for the new linearized equation is proposed. From the evaluations of time responses and frequency responses obtained from simulations for a hydraulic control system, the effectiveness of the new linearized equation and the procedure to determine effective operating point is confirmed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.107-108
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• 2011

• Proceedings of the KIPE Conference
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• 2014.07a
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• pp.138-139
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• 2014

3레벨 NPC 인버터는 구조상 DC Link가 두 개의 커패시터로 직렬 구성되어 있어 두 커패시터 간의 전압 불균형의 문제가 발생한다. 중성점의 변동으로 인하여 스위치 소자의 소손과 제어기의 오작동 등 시스템의 안정도가 떨어지게 된다. 기존의 중성점 전압을 제어하는 오프셋 전압 인가 방식은 zero point 지점에서 불연속 스위칭 구간이 존재하기 때문에 중성점 제어가 불가능하다. 본 논문에서는 중성점 전압을 제어하기 위하여 DPWM 기법에서 중성점 전압을 제어하는 방식을 제안하였다. DC Link의 두 커패시터 전압 불균형이 발생하면 $60^{\circ}(+30^{\circ})$ DPWM 기법으로 Positive 벡터와 Negative 벡터의 스위칭 인가 시간을 조절하여 두 커패시터의 전압 균형을 이루게 한다. 시뮬레이션을 통하여 본 논문에서 제안한 방식에 대한 타당성을 검증하였다.

• Proceedings of the KIPE Conference
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• 2014.07a
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• pp.211-212
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• 2014

기존의 단방향 동작만 고려한 인버터에서 반송파 기반 PWM 방식의 중성점 전압 제어기법을 양방향 동작의 인버터에 그대로 적용할 경우 역방향 동작에서 중성점 전압이 오히려 벌어지는 문제가 있다. 본 논문에서는 구현이 간단한 반송파 기반 PWM 방식의 중성점 전압 제어기법을 양방향 인버터에 적용하여 인버터의 전류 방향에 상관없이 하나의 제어기로 구현된 제어기법을 제안한다. 제안하는 기법은 양방향 모드전환 시에도 끊김없는 제어가 가능하고 초기 동작과 무부하 동작에서도 중성점 전압의 불평형을 제거할 수 있다. 양방향 T-type 인버터를 제작하여 본 논문에서 제안한 제어기법을 검증 하였다.