• 대한전기학회논문지:전력기술부문A
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• 제55권7호
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• pp.281-289
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• 2006

Advanced controllers among Flexible AC Transmission System(FACTS) devices employ self-commutated switching converters, VSI (Voltage Sourced Inverters), as the synchronous voltage source. Such controllers are SSSC (Static Synchronous Series Compensator), STATCOM (Static Synchronous Compensator) and UPFC (Unified Power Flow Controller). UPFC is series-shunt combined controller. Its series and shunt inverters can be modeled as SSSC and STATCOM but the dependant relation between the inverters is very complex. For that reason, the complexity makes it difficult to develop the UPFC model by simply combining the SSSC and STATOM models when we apply the model for conventional power system dynamic simulation algorithm. Therefore, we need each relevant models of VSI type FACTS devices for power system analysis. This paper proposes a modeling approach which can be applied to modeling of VSI type FACTS devices. The proposed method using Newton-type current injection method can be used to make UPFC, SSSC, and STATCOM models. The proposed models are used for 2-area test system simulation, and the results verify their effectiveness.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2000년도 특별강연 및 춘계학술발표대회 개요집
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• pp.117-120
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• 2000

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.76.6-76
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• 2002

Introduction. Modeling. Controller. Simulation. Experiment. Conclusion

• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• 전자공학회논문지SC
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• 제37권1호
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• pp.19-29
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• 2000

기존의 위성제어용 시뮬레이션 툴은 위성 모델을 강체로 보고, 비례-미분(Proportional-Differential)제어기를 사용하기 때문에, 이동하는 위성의 경우 오차한계범위를 벗어나 통신이 두절되는 현상이 발생할 수 있다. 따라서, 본 논문은 신속한 자세회복 및 안정된 진보적인 제어기의 설계를 위하여 이동하는 정지궤도 및 저궤도 위성에 대하여 위성을 강체 및 유연체 구조로 모델링하고, 통신두절시 신속한 자세 회복을 위한 최소시간 제어기 설계와 위성의 위치 제어시 발생하는 통신중단을 최소화 하기 위하여 기존의 PD제어기보다 정확하고 안정된 선형조절기를 상태공간 벡터를 사용하여 설계하였다. 시뮬레이션은 먼저 강체 모델과 유연체 모델을 비교하기 위하여, 이동하는 정지궤도 및 저궤도 위성에 대하여 PD제어기를 사용하여 시험되었으며, 자세이동시의 제어기의 응답특성을 분석하기 위하여, 지상의 명령에 의한 위성의 피치각을 변경하는 경우, 주기적으로 수행되는 남북 궤도 유지에 대하여 수행하였다. 그 결과, 강체모델에 대비하여 유연성 모델이 실제 상황에 근접한 결과를 가져다 주었으며, 최소시간제어기는 PD제어기 대비 약 7배 이상 빠르게 신속한 자세 회복을 가져다 주었으며, 선형조절기는 외란에 대한 적응 및 안정도, 응답속도 측면에서 장점을 나타내었다. 향후 이 위성 모델 및 제어기를 사용하여 실제 운용시 예상되는 제어기의 결과를 확인할 수 있으며, 더 나아가 새로운 제어기의 개발 및 교육 등에 유용하게 사용될 수 있을 것이다.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.197-203
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• 2006

This paper addresses dynamic modeling and task-space trajectory following issues for nonholonomic mobile manipulators moving on a slope. An integrated dynamic modeling method is proposed considering nonholonomic constraints and interactive motions. An adaptive neural-fuzzy controller is presented for end-effector trajectory following, which does not rely on precise apriori knowledge of dynamic parameters and can suppress bounded external disturbances. Effectiveness of the proposed algorithm is verified through simulations.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(3)
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• pp.169-172
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• 2001

In recent years, many studies regarding the modeling of fuzzy system have been conducted. In this paper, a new computational approach to modeling of linguistic fuzzy system is proposed The fuzzy system is modeled as a combination of affine systems, The proposed method can be used in a rigorous stability analysis of fuzzy system including the linguistic fuzzy controller.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.309.1-309
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• 2002

This paper is concerned with the dynamic modeling of a rectangular plate with piezoelectric actuators and sensors. The experimental frequency response plots can be used to verify the theoretical modeling. The active vibration control was achived by using positive position feedback controller. Theoretical analysis will follow.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.425-430
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• 2002

An automatic transmission model using the bond graph techniques is developed for analyzing shift characteristics of vehicles. Bond graph models can be systemically manipulated to yield state space equations of standard form. Bond graph techniques are applied for modeling overall automatic transmission systems and shift models. A fuzzy controller is synthesized for the verification of a shifting model in the ${1^st} gear to the {2^nd}$ gear. Simulation results show the fitness of models by the bond graph techniques.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2540-2545
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• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.