• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.431-431
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• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.360-360
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• 2000

In this paper, a new criterion f9r determining the sampling rate of digital conroller is proposed. This paper will introduce a method fur determining the appropriate sampling rate of digital controller which can be substituted with the given analog controller, using phase margin and gain cross over frequency, not rising time or bandwidth of the closed-loop system. This method also guarantees performance of the system. Without exact modeling functions of the plant, abstracting those functions, this paper can achieve stability and aimed performance of the system, and this paper proved it with proper modeling functions.

• International Journal of Control, Automation, and Systems
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• 제6권4호
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• pp.495-505
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• 2008

This paper describes modeling Voltage Sourced Inverter (VSI) type Flexible AC Transmission System (FACTS) controllers and control methods for power system dynamic stability studies. The considered FACTS controllers are the Static Compensator (STATCOM), the Static Synchronous Series Compensator (SSSC), and the Unified Power Flow Controller (UPFC). In this paper, these FACTS controllers are derived in the current injection model, and it is applied to the linear and nonlinear analysis algorithm for power system dynamics studies. The parameters of the FACTS controllers are set to damp the inter-area oscillations, and the supplementary damping controllers and its control schemes are proposed to increase damping abilities of the FACTS controllers. For these works, the linear analysis for each FACTS controller with or without damping controller is executed, and the dynamic characteristics of each FACTS controller are analyzed. The results are verified by the nonlinear analysis using the time-domain simulation.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.565-573
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• 2007

This paper is concerned with the dynamic modeling, active vibration controller design and experiments for a cylindrical shell equipped with MFC actuators. The dynamic model was derived by using Rayleigh-Ritz method based on Donnel-Mushtari shell theory. The actuator and sensors for the MFC actuator equations were derived based on pin-force model. The equations of motion were then reduced to modal equations of motion by considering the modes of interest. The sensor equations were also converted to a reduced form. An aluminum shell was fabricated to demonstrate the effectiveness of modeling and control techniques. The boundary conditions at both ends of the shell were assumed to be shear diaphragm. Theoretical natural frequencies were calculated and compared to experimental result. It was observed that the theoretical result is in good agreement with experimental result for the first two modes. The multi-input and multi-output positive position feedback controller, which can cope with first two modes, was then designed based on the blockinverse theory and implemented using DSP. It was found from experiment that vibrations can be successfully suppressed.

• 한국항공운항학회지
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• 제23권1호
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• pp.49-55
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• 2015

This paper deals with dynamic modeling and controller design of a future Korean lunar module planned to be launched 2020's in Korea. For dynamic modeling of the lunar module, we first assume the lunar module as a rigid body. And we derive equations of motion for the lunar module by considering allocation of main thrusters and reaction thrusters. With the equation of motion, we design the controller based on the quaternion. A Pulse Width Pulse Frequency modulator(PWPFM) is selected for generating on/off signal. Finally, we construct a 2-phase descent mode including initial guidance mode, terminal guidance mode. The MATLAB simulation is performed for evaluating the descent ability and final landing velocity. The dynamic modeling and descent simulation of the lunar module in this paper could be applied for developing the future work of the Korean lunar exploration program.

• 대한임베디드공학회논문지
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• 제6권5호
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• pp.263-272
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• 2011

The complexity of flash memory based storage systems is high due to diverse host interfaces and other design choices such as mapping granularity, flash memory controller execution models and so on. Thus, it is possible that the actual performance after implementation is not consistent with the target performance. This paper demonstrates that the performance prediction of flash memory based storage systems is possible through performance modeling that takes into account various design parameters. In the performance modeling, the FTL, which is the core element of flash memory based storage systems, is modeled as a set of (copy-on-write) logs and their interactions. Also, the flash memory controller is modeled based on the classification proposed in the design of the Ozone flash controller. In this study, the performance model has been implemented using Simulink and experimental results are presented and analyzed.

• 전기학회논문지
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• 제59권3호
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• pp.555-561
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• 2010

In this paper, the constant current controller is designed to regulate the driving current of a power LED. The controller design model of the power LED including its driving circuit is proposed to design the constant current controller. A buck converter is also introduced to drive the power LED. The PI-based digital controller is implemented to validate the proposed strategy for the power LED driving.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.75.4-75
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• 2001

This paper designs the robust hybrid controller for the multi degree-of-freedom system having uncertainty caused by modeling error and disturbances. The controlled plant is the construction which has an active dynamic vibration absorber on the top and is excited by the El Centre earthquake at the base. The active controller designed by the LQR(Linear Quadratic Regulator) and H-infinity control theory. The robustness of the hybrid H$\infty$ controller is compared with that of the hybrid LQ controller from computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.74.5-74
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• 2002

1. Introduction 2. Modeling of Paralleled Converters with ACC 3. H/sub/spl infin//Control 4. Controller Design Example 5. Simulation Result 6. Conclusions

• International Journal of Aeronautical and Space Sciences
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• 제14권2호
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• pp.172-182
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• 2013

This paper focuses on the modeling and intelligent control of the new Eight-Rotor MAV, which is used to solve the problem of the low coefficient proportion between lift and gravity for the Quadrotor MAV. The Eight-Rotor MAV is a nonlinear plant, so that it is difficult to obtain stable control, due to uncertainties. The purpose of this paper is to propose a robust, stable attitude control strategy for the Eight-Rotor MAV, to accommodate system uncertainties, variations, and external disturbances. First, an interval type-II fuzzy neural network is employed to approximate the nonlinearity function and uncertainty functions in the dynamic model of the Eight-Rotor MAV. Then, the parameters of the interval type-II fuzzy neural network and gain of sliding mode control can be tuned on-line by adaptive laws based on the Lyapunov synthesis approach, and the Lyapunov stability theorem has been used to testify the asymptotic stability of the closed-loop system. The validity of the proposed control method has been verified in the Eight-Rotor MAV through real-time experiments. The experimental results show that the performance of the interval type-II fuzzy neural network based adaptive sliding mode controller could guarantee the Eight-Rotor MAV control system good performances under uncertainties, variations, and external disturbances. This controller is significantly improved, compared with the conventional adaptive sliding mode controller, and the type-I fuzzy neural network based sliding mode controller.