• Journal of Advanced Marine Engineering and Technology
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• 제39권10호
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

• Journal of Power Electronics
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• 제16권2호
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• pp.542-552
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• 2016

Central 60° synchronous modulation is an easy pulse-width modulation (PWM) method to implement for the traction inverters of urban rail trains at a very low switching frequency. Unfortunately, its switching patterns are determined by a Fourier analysis of assumed steady-state voltages. As a result, its transient responses are not very good with over-currents and high instantaneous torque pulses. In the proposed solution, the switching patterns of the conventional central 60° modulation are modified according to the dynamic error between the target and actual stator flux. Then, the specific trajectory of the stator flux and current vector can be guaranteed, which leads to better system transients. In addition, stator flux control is introduced to get smooth mode switching between the central 60° modulation and the other PWMs in this paper. A detailed flow chart of the control signal transmission is given. The target flux is obtained by an integral of the target voltage. The actual PMSM flux is estimated by a minimum order flux state observer based on the extended flux model. Based on a two-level inverter model, improved rules in the α-β stationary coordinate system and equations of the switching patterns amendment are proposed. The proposed method is verified by simulation and experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.496-496
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• 2000

We propose a neuron computer for tracking motion of particles in multi-dimensional space. The neuron computer is constructed of neural networks and their connections, which is a simplified model of the brain. The neuron computer is assemblage of neural networks, it includes a control unit, and the actions of the unit are represented by instructions. We designed a neuron computer to recognize and predict motion of particles. The recognition unit is constructed of neuron-array, encoder, and control part. The neuron-array is a model of the retina, and particles crease an image on the array, where the image is binary. The encoder picks one particle from the array, and translates the particle's location to Cartesian coordinates, which is scaled in [0, 1] intervals. Next, the encoder picks another particle, and does same process. The ordering and reduction of complex processes are executed by instructions. The instructions are held in the control part. The prediction unit is constructed of a multi-layer neural network and a feedback loop, where real time learning is executed. The particles' future locations are forecasted by coordinate values. The neuron computer can chase maximum 100 particles that take evasions.

• 한국안전학회지
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• 제16권4호
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• pp.200-207
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• 2001

회전하는 기계에서 전달되는 조화적인 진동력이 수동 및 능동 진동 격리기를 통하여 중간 지지구조물에 어떻게 전달되는 것인가를 연구하였다. 이를 위하여 이론적인 모델은 모든 축에 대하여 수평과 수직방향의 힘과 모멘트를 고려하여 작성되었으며, 실험은 중간 구조물에 전달되는 회전방향 및 직선방향의 진동을 최소화하기 위하여 2단으로 구성된 중간 지지구조물에 부착된 진동 액츄에이터를 사용하였다. 진동원에 의하여 발생된 진동이 에러 센서에서 측정되었으며 제어원과 에러센서사이의 전달함수가 측정되었다. 1-100Hz사이의 주파수 범위에 있어서 기존의 수동격리기와 직렬로 설치된 능동격리기를 통하여 전달된 힘이 실제로 감소되었음을 실험결과를 통하여 확인하였다.

• 조명전기설비학회논문지
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• 제14권4호
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• pp.39-47
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• 2000

본 논문에서는 입력전류 추정에 의한 전밥형 PWM 컨버터의 정상상태 및 과도상태 특성을 개선하기 위하여 정현추종제어기를 제안한다. 그리고, 입력전류의 추정방법과 제어기의 구성에 대해서 논의된다. DC 출력전압은 PI제어기로 제어되며, AC 입력전류를 직접추총 제어하는 정현추종 전류제어기가 입력전류 제어기로 사용된다. 정현추종 전류제아기는 좌표변환 알고리즘 없이 사용가능 하므로 제어계를 간소화 할 수 있다. 입력전류 제어계의 전달함수로부터 입력전류의 정상상태오차가 0이 되고, 입력전압의 동에 대해서도 제안한 제어계는 영향을 받지 않는다는 것을 알 수 있다. 아울러 제안한 방법에 대한 타당성이 시뮬레이션 및 부하, 입력 전압 변동에 대한 실험결과로부터 확인할 수 있다.

• 전력전자학회논문지
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• 제23권5호
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• pp.336-344
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• 2018

This study proposes a new PWM method for leakage current reduction and neutral point (NP) current control in three-phase three-level converter employed in bipolar DC distribution systems. The proposed PWM method uses medium vectors only when there is no need to control the NP current. Thus, common mode voltages are held constant to realize zero leakage current. Some space vectors that produce low-frequency common mode voltages are employed to minimize leakage currents when the average NP current needs to be a positive or negative value. The proposed space vector PWM is implemented based on barycentric coordinate. The validity of the proposed PWM method is verified by simulations and experiments.

• 대한인간공학회지
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• 제7권2호
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• pp.31-44
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• 1988

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment then the automatic mode changes into the manual mode. The operation by the control program and the operation by a human recover the error in the manual mode. The system resumes the automatic mode and continues the given task. It is necessary to improve the manual mode in order to make the best use of a man-robot system, as a part of the human interface technique. Therefore, the error recovery task is performed by combining the operation by the control program representing autonomy of a robot and the operation by a human representing versatility of a human operator effectively in the view point of human factors engineering. The geometric inverse kinematics is used for the calculation of the robot joint values in the operation by the control program. The singularity operation error and the parameter operation error often occur in this procedure. These two operation errors increase the movement time of the robot and the coordinate reading time, during the error recovery task. A singularity algorithm, parameter algorithm and fuzzy control are studied so as to remove the disadvantages of geometric inverse kinematics. And the geometric straight line motion is studied so as to improve the disadvantages of the operation by a human.

• 한국측량학회지
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• 제25권4호
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• pp.309-317
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• 2007

우리나라의 지적기준점은 구소삼각원점, 특별소삼각원점, 특별도근측량원점 및 통일원점 등 다양한 원점체계를 기준으로 하고 있다. 이러한 다양한 원점체계를 가진 수치지적도는 통일원점을 기준으로 하는 국가 GIS 데이터와의 연계에 어려움을 가지고 있다. 본 연구에서는 구소삼각원점에 기준한 지적기준점 성과를 통일원점을 기준한 성과로 변환하기 위한 실험을 실시하였다. 변환 방법은 2차원 등각변환에 의한 변환 매개변수를 산출하고 이를 적용하여 간접변환한 성과를 GPS로 측량한 성과와 비교하였다. 또한 통일원점 기준의 지적기준점 성과를 세계측지계 기준의 성과로 변환하기 위한 최적합 실험을 실시하였다.

• 한국컴퓨터산업학회논문지
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• 제2권10호
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• pp.1355-1364
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• 2001

내부회계통제는 자산을 보호하고 회계자료의 정확성과 신뢰성을 검증하고, 운영의 효율성을 촉진하며 미리 정한 경영정책의 실행을 촉진하기 위하여 경영조직의 계획과 기업이 채택한 조정방법과 조치를 포함한다. 내부회계통제는 다음과 같이 분류된다. l. 일반통제 : $\circled1$ 조직과 운영통제 $\circled2$ 시스템개발과 문서통제 $\circled3$ 하드웨어 통제 $\circled4$ 소프트웨어와 하드웨어의 접근 가능성에 대한 통제 $\circled5$ 일반적인 시스템의 보안 2.응용통제 : $\circled1$입력통제 $\circled2$처리과정 통제 $\circled3$출력통제 내부회계통제는 기업의 경영통제와 연계시킴으로서 총체적인 경영정보시스템을 구축할 수 있으며 의사결정자로 하여금 의사결정지원시스템을 구축할 수 있게 한다.

• Journal of Electrical Engineering and Technology
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• 제13권4호
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• pp.1459-1473
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• 2018

This paper focuses on voltage control schemes for multi-terminal low-voltage direct current (LVDC) distribution systems. In a multi-terminal LVDC distribution system, there can be multiple AC/DC converters that connect the LVDC distribution system to the AC grids. This configuration can provide enhanced reliability, grid-supporting functionality, and higher efficiency. The main applications of multi-terminal LVDC distribution systems include flexible power exchange between multiple power grids and integration of distributed energy resources (DERs) using DC voltages such as photovoltaics (PVs) and battery energy storage systems (BESSs). In multi-terminal LVDC distribution systems, voltage regulation is one of the most important issues for maintaining the electric power balance between demand and supply and providing high power quality to end customers. This paper focuses on a voltage control method for multi-terminal LVDC distribution system that can efficiently coordinate multiple control units, such as AC/DC converters, PVs and BESSs. In this paper, a control hierarchy is defined for undervoltage (UV) and overvoltage (OV) problems in LVDC distribution systems based on the control priority between the control units. This paper also proposes methods to determine accurate control commands for AC/DC converters and DERs. By using the proposed method, we can effectively maintain the line voltages in multi-terminal LVDC distribution systems in the normal range. The performance of the proposed voltage control method is evaluated by case studies.