• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• The Transactions of the Korean Institute of Power Electronics
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• v.22 no.4
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• pp.336-344
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• 2017

This paper presents the three-port DC-DC converter modeling and controller design procedure, which is part of the solid-state transformer (SST) to interface medium voltage AC grid to bipolar DC distribution network. Due to the high primary side DC link voltage, the proposed converter employs the three-level neutral point clamped (NPC) topology at the primary side and 2-two level half bridge circuits for each DC distribution network. For the proposed converter particular structure, this paper conducts modeling the three winding transformer and the power transfer between each port. A decoupling method is adopted to simplify the power transfer model. The voltage controller design procedure is presented. In addition, the output current sharing controller is employed for current balancing between the parallel-connected secondary output ports. The proposed circuit and controller performance are verified by experimental results using a 30 kW prototype SST system.

• Journal of the Korean Society of Safety
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• v.7 no.2
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• pp.71-79
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• 1992

This paper presents a least-square algorithms of lattice structures and their use for adaptive prediction of time series generated from the dynamic system. As the view point of adaptive prediction, a new method of Identification of dynamic characteristics by means of estimating the parameters of linear auto regressive model is proposed. The fast convergence of adaptive lattice algorithms is seen to be due to the orthogonalization and decoupling properties of the lattice. The superiority of the least-square lattice is verified by computer simulation, then predictor coefficients are computed from the linear sequential time data. For the application to the dynamic characteristic analysis of unknown system, the transfer function of ideal system represented in frquency domain and the estimated one obtained by predicted coefficients are compared. Using the proposed method, the damping ratio and the natural frequency of a dynamic structure subjected to random excitations can be estimated. It is expected that this method will be widely applicable to other technical dynamic problem in which estimation of damping ratio and fundamental vibration modes are required.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.5
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• pp.170-175
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• 2003

A control algorithm is developed for highly efficient operation of auxiliary power unit (APU) that consists of a diesel engine and a directly coupled induction generator in series hybrid electric Bus (SHEB). In a series hybrid configuration the APU supplies the electric power needed for maintaining the state of charge (SOC) of the battery unit in various conditions of vehicle operation. As the rotational speed of generator does not depend on the vehicle speed, an optimized operation of engine-generator unit based on the efficiency map of each component can be achieved. The output torque of diesel engine can be controlled by the amount of fuel injection, and the power converted from mechanical to electrical energy can be adjusted by generate control unit (GCU) using the decoupling vector control of torque and flux. As for the given reference of the generating power, the multiply of speed and torque, many combinations of operating speed and torque are possible. The algorithm decides the new operating point based on the engine efficiency map and generator characteristic curve. During the transition of operating points, the speed controller saturation is avoided using variable limit and filtering of generator torque reference. A test rig and SHEB consist of a 1.5L diesel engine and a 30kw induction generator are constructed by Hyundai Motor Company.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.1
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• pp.67-76
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• 2000

In this paper, a low noise amplifier has been developed, which is operating at L-band i.e., 1525-1575 MHz. By using resistive decoupling circuits, the resistor dissipates undesired signal in low frequency band. By adopting this design method the stability of the LNA is increased and the input impedance matching is improved. The LNA consists of the low noise GaAs FET ATF-10136 and the internally matched VNA-25. The low LNA is fabricated by both the RP circuit and the self-bias circuits in an aluminum housing. As a result, the characteristics of the LNA implemented show more than 32 dB in gain, lower than 0.5 dB in noise figure, 18.6 dBm output gain in 1 dB gain compression point.

• Geomechanics and Engineering
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• v.21 no.3
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• pp.289-300
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• 2020

Estimating the damage induced by an explosion around a blast hole has always been a challenging issue in geotechnical engineering. It is difficult to determine an exact dimension for damage zone since many parameters are involved in the formation of failures, and there are some uncertainties lying in these parameters. Thus, the present study adopted a probabilistic approach towards this problem. First, a reliability model of the problem was established and the failure probability of induced damage was calculated. Then, the corresponding exceedance risk curve was developed indicating the relation between the failure probability and the cracked zone radius. The obtained risk curve indicated that the failure probability drops dramatically by increasing the cracked zone radius so that the probability of exceedance for any crack length greater than 4.5 m is less than 5%. Moreover, the effect of each parameter involved in the probability of failure, including blast hole radius, explosive density, detonation velocity, and tensile strength of the rock, was evaluated by using a sensitivity analysis. Finally, the impact of the decoupling ratio on the reduction of failures was investigated and the location of its maximum influence was demonstrated around the blast point.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.2
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• pp.317-326
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• 2008

This paper presents a vector control implementation for SPMSM(Surface-mounted Permanent Magnet Synchronous Motor) using dSPACE 1104 system and MATLAB/SIMULINK. SPMSM can be treated as a DC motor provided that currents of flux and torque component are controlled independently using vector control. Therefore various control algorithms for conventional DC motor control can be adopted to SPMSM. The system is designed to improve set-point tracking capability, fast response, and accuracy In This paper, d-q equivalent modeling of PMSM is derived based on vector control theory. PI controller is used for speed control and decoupling PI controller is used for current control. For the implementation of high performance vector control system, dSPACE 1104 system is used. Experiments were carried out to examine validity of the proposed vector control implementation.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.3
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• pp.247-255
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• 2013

The flight control of re-entry vehicles poses a challenge to conventional gain-scheduled flight controllers due to the widely spread aerodynamic coefficients. In addition, a wide range of uncertainties in disturbances must be accommodated by the control system. This paper presents the design of a roll channel controller for a non-axisymmetric reentry vehicle model using the trajectory linearization control (TLC) method. The dynamic equations of a moving mass system and roll control model are established using the Lagrange method. Nonlinear tracking and decoupling control by trajectory linearization can be viewed as the ideal gain-scheduling controller designed at every point along the flight trajectory. It provides robust stability and performance at all stages of the flight without adjusting controller gains. It is this "plug-and-play" feature that is highly preferred for developing, testing and routine operating of the re-entry vehicles. Although the controller is designed only for nominal aerodynamic coefficients, excellent performance is verified by simulation for wind disturbances and variations from -30% to +30% of the aerodynamic coefficients.