• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.155.4-155
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• 2001

This paper deals with the inertia property-based redundancy resolution in posture control of a mobile manipulator. As a measure for the redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. The reduced effective inertia has a significant effect on reducing the impulse force in collision with environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method that can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision and to regulate the contact force in mobile manipulation ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.111.6-111
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• 2001

A seat suspension system with a controlled MR(Magneto Rheological) fluid damper is introduced to improve the ride quality and prevent the health risk of a driver compared to conventional seats. The system locates between a seat cushion and base, and is composed of a spring, MR fluid damper and controller. The MR fluid damper designed in valve mode is capable of producing a wide range of damping force according to applied currents. In experiments, a person was sitting on the controlled seat excited by a hydraulic system. The skyhook control, continuous skyhook control and relative displacement control were applied and the continuous skyhook control improved the vibration suppression by 36.6%.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.476-481
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• 2001

This research is concerned with development of the active vibration absorber using piezoelectric actuators. This active isolation system consists of a-pairs of PZT actuators bonded on a S-shaped aluminum plate and the passive damping material. The active system is connected to the passive system in series. In this paper, one of the popular control techniques which have been successfully applied to the smart structure is the Positive Position Feedback(PPF) control. The digital PPF control lows downloaded to the DSP chip and a main program, which runs SISO PPF algorithm. The structure and dynamic characteristics of the proposed active vibration isolation system and described in detail. To demonstate the effectiveness of the active vibration control, the PPF controller is first employed. Experimental results show that the active vibration isolation is possible by means of the proposed system.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.861-866
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• 2002

A seat suspension system with a controlled MR(Magneto Rheological) fluid damper is introduced to improve the ride quality and prevent the health risk of a driver compared to fixed seats. The system is located between a seat cushion and the base, and is composed of a spring, MR fluid damper and controller. The MR fluid damper designed in valve mode is capable of producing a wide range of damping force according to applied currents. In experiments, a person was sitting on the controlled seat excited by a hydraulic system The skyhook control, continuous skyhook control and relative displacement control were applied and the continuous skyhook control improved the vibration suppression by 36.6%.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.358-363
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• 1987

It is widely noted that pressure feedback systems have been devised to damp the fluid resonance effectively in precision speed control-for large inertia system. A compensation technique preserving the natural output disturbance discrimination characteristics at lower frequencies is proposed The load pressure across positive displacement acceleration. The technique involves feeding back load differential pressure, sensed by pressure transducers, though a simple analog compensatory circuit (high pass filter). The effectiveness of the damping is determined by the filter time donstant and loop gain. Nonlinear total hydraulic simulation results verify the possibility of linear model predictions of extending the closed loop bandwidth beyond the uncompensated frequency.

• Transactions on Electrical and Electronic Materials
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• v.18 no.5
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• pp.303-309
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• 2017

The flexible AC transmission system (FACTS) provides a new advanced technology solution to improve the flexibility, controllability, and stability of a power system. The unified power flow controller (UPFC) is outstanding for regulating power flow in the FACTS; it can control the real power, reactive power, and node voltage of distribution networks. This paper investigates the performance of the UPFC for power flow control with a series of step changes in rapid succession in a power system steady state and the response of the UPFC to distribution network faults and islanding mode. Simulation was carried out using the MATLAB's simulink sim power systems toolbox. The results, which were carried out on a 5-bus test system and a 4-bus multi-machine electric power system, show clearly the effectiveness and viability of UPFC in rapid response and independent control of the real and reactive power flows and oscillation damping [6].

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.7-8
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• 2008

유연 송전시스템(FACTS)은 송전선의 효율을 높임으로서 발전소의 추가 설비 없이도 전력수요에 맞는 전력공급을 가능하게 하는 제어기이다. 특히, 직렬형 유연 송전시스템에서 사용하는 외부제어기는 미소 리액턴스 신호를 발생하여 내부제어기에 인가함으로서 전력시스템의 저주파 댐핑을 효과적으로 향상시키는데 사용된다. 본 논문에서는 효과적인 외부제어기 설계를 위해 하이브리드시스템 모델링 이론을 유연 송전시스템을 포함한 전력시스템에 적용하였다. 하이브리드시스템은 전력시스템의 고유의 비선형성을 포함하여 모델링을 함에도 불구하고 전체 시스템 행렬을 계산할 수 있게 도와줌으로서 고유치 분석을 통한 적절한 외부제어기 설계를 가능하게 한다. 본 논문에서 제시한 방법을 적용하여 설계된 외부제어기의 성능을 1기 무한모선 시스템에 적용하여 평가하였다.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1379-1380
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• 2015

본 논문에서는 고도유지 제어기를 포함한 자율이동체의 수직 채널 안정화 루프를 제안한다. 제안된 방법은 일반적으로 널리 사용되고 있는 고전적인 수직채널 댐핑루프와 달리 고도정보와 함께 속도정보를 이용하여 궤적의 고도변화가 큰 이동체에 대하여 빠른 응답특성을 갖도록 한다. 루엔-버거(Luenberger) 관측기 구조를 이용함으로써 속도정보를 활용한 수직채널 안정화루프의 체계적 설계가 가능함을 보인다. 제안된 설계 방법에 대하여 모의실험을 통해 제안한 기법의 성능 및 유용성을 확인한다.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.3
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• pp.300-310
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• 1992

This paper deals with the problem of robust pole-assignment control for linear systems with structured uncertainty. It considers two cases whose colsed-loop characteristic equations are presented as a family of interval polynomial and polytopic polynomial family respectively. We propose a method of finding the pole-placement region in which the fixed gain controller guarantees the required damping ratio and stability margin despite parameter perturbation. Some results of Kharitonov like stability and two kinds of transformations are included. As an illustrative example, we show that the proposed method can apply effectivly to the single magnet levitation system including some uncertainties (mass, inductance etc.).

• Journal of Drive and Control
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• v.9 no.2
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• pp.1-7
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• 2012

본 연구의 목적은 에어 서스펜션 시스템의 제어 특성을 분석하는 것이다. 우선 에어 서스펜션 시스템의 수학적 모델을 구하였다. 그리고 퍼지 제어 알고리즘을 적용하여 반능동식 하이브리드 제어 에어 서스펜션을 구하였다. 차체 가속도에 따라 퍼지 제어기는 오리피스 개도를 변경하여 특정 영역에서 에어 스프링의 강도를 조정한다. 동시에 서스펜션 운동 상태에 따라 서스펜션 댐핑이 제어된다. 시뮬레이션 결과는 반능동식 하이브리드 제어 에어 서스펜션이 노면 접지능력의 상실이나 서스펜션 작동 공간의 증가 없이 최고의 승차감을 제공할 수 있음을 보여준다.