• Journal of Drive and Control
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• v.17 no.1
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• pp.44-50
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• 2020

For the requirement of accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Because of the complexity of humanoid robot dynamics, the TDC (time-delay control) is practical because it does not require a dynamic model. However, there occurs a considerable error due to discontinuous non-linearities. To solve this problem, the TDC-FLC (fuzzy logic compensator) is applied to humanoid robots. The applied controller contains three factors: a TDE (time-delay estimation) factor, a desired error dynamic factor, and FLC to suppress the TDE error. The TDC-FLC is easy to execute because it does not require complicated humanoid dynamic calculations and the heuristic fuzzy control rules are intuitive. TDC-FLC is implemented on the whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the TDC-FLC for humanoid robots.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.5
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• pp.397-404
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• 1999

In this paper, several control methods for the discontinuous mode PWlvl-SRC are investigated with the l linearized small signal model. In order to analyze the stability and dyncunic characteristics of the controlled s system, the root locus as a function of the normaliz떠 output current(]\iOC) for a given normalized output v voltage(NOV) is employed. FurLhem10re, in this paper, the “Optimal trajectory control of PWM-SRC" is newly p propos(xl and its good dvnamic performances are evaluated with other four control laws.laws.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.6 s.165
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• pp.1001-1010
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• 1999

Thermo-mechanical behavior of discontinuous shape memory alloy(SMA) reinforced polymeric composite has been studied using modified shear lag theory and finite element(FE) analysis with 2-D multi-fiber model. The aligned and staggered models of short-fiber arrangement are employed. The effects of fiber overlap and aspect ratio on the thermomechanical responses such as the thermal expansion coefficient are investigated. It is found that the increase of both tensile stress(resistance stress) in SMA fiber and compressive stress in polymer matrix with increasing aspect ratio is the main cause of low thermal deformation of the composite.

• Journal of Electrical Engineering and Technology
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• v.6 no.4
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• pp.519-526
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• 2011

An investigation of the mechanism of period-doubling bifurcation in a voltage mode controlled buck-boost converter operating in discontinuous conduction mode is conducted from the viewpoint of nonlinear dynamical systems. The discrete iterative model describing the dynamics of the close-loop is derived. Period-doubling bifurcation occurs at certain values of the feedback factor. Results from numerical simulations and experiments are provided to verify the evolution of perioddoubling bifurcation, and the results are consistent with the theoretical analysis. These results show that the buck-boost converters exhibit a wide range of nonlinear behavior, and the system exhibits a typical period-doubling bifurcation route to chaos under particular operating conditions.

• Journal of Power Electronics
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• v.8 no.1
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• pp.51-59
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• 2008

This paper addresses several issues concerning the analysis, design, modeling, simulation and development of single-phase, single-switch, power factor corrected AC-DC high frequency switching converter topologies with transformer isolation. A detailed analysis and design is presented for single-switch topologies, namely forward buck, flyback, Cuk, Sepic and Zeta buck-boost converters, with high frequency isolation for discontinuous conduction modes (DCM) of operation. With an awareness of modem design trends towards improved performance, these switching converters are designed for low power rating and low output voltage, typically 20.25W with 13.5V in DCM operation. Laboratory prototypes of the proposed single-switch converters in DCM operation are developed and test results are presented to validate the proposed design and developed model of the system.

• Journal of Power Electronics
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• v.7 no.4
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• pp.318-327
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• 2007

The design and performance analysis of a power factor corrected (PFC), single-phase, single switch flyback buck-boost ac-dc converter is carried out for low power battery charging applications. The proposed configuration of the flyback buck-boost ac-dc converter consists of only one switch and operates in discontinuous current mode (DCM), resulting in simplicity in design and manufacturing and reduction in input current total harmonic distortion (THD). The design procedure of the flyback buck-boost ac-dc converter is presented for the battery charging application. To verify and investigate the design and performance, a simulation study of the flyback buck-boost converter in DCM is performed using the PSIM6.0 platform. A laboratory prototype of the proposed single switch flyback buck-boost ac-dc converter is developed and test results are presented to validate the design and developed model of the system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.04b
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• pp.218-222
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• 1993

A sliding mode controller associated with the moving sliding surface is formulate for the tip position control of a single-link flexible manipulator. After establishing the plant model which characterizes a noncollocated control system, a discontinuous control law is then constructed by restricting that velocity state variables are not available from direct sensor measurements. Using the proposed control law favorable system responses are accomplished through shortening the reaching phase without increasing maximum control torque. Furthermore, a low sensitiveness to extraneous disturbance is obtained. Computer simulations are undertaken in order to demonstrate these superior control performance characteristics to be accrued from the proposed methodology.

• Structural Engineering and Mechanics
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• v.47 no.3
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• pp.307-329
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• 2013

The bending problem of Euler-Bernoulli discontinuous beams is dealt with, in which the discontinuities are due to the loads and eventually to essential constrains applied along the beam axis. In particular, the loads are modelled as random delta-correlated processes acting along the beam axis, while the ulterior eventual discontinuities are produced by the presence of external rollers applied along the beam axis. This kind of structural model can be considered in the static study of bridge beams. In the present work the exact expression of the response quantities are given in terms of means and variances, thanks to the use of the stochastic analysis rules and to the use of the generalized functions. The knowledge of the means and the variances of the internal forces implies the possibility of applying the reliability ${\beta}$-method for verifying the beam.

• Proceedings of the KIPE Conference
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• 2004.07b
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• pp.610-614
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• 2004

Recently, an active-clamp, full-bridge boost converter has been actively studied for high-power applications such as power factor correction and battery discharger. However, DC and AC modeling for this converter has not conquered. In this paper, a DC and small-signal AC modeling for the active-clamp, full-bridge boost converter is described. Based on the operation principle, the ac part of the converter can be replaced by a do counterpart. Then, a conceptual equivalent circuit is derived by rearranging the switches. The equivalent circuit for this converter consists of CCM (Continuous conduction mode) boost and DCM (Discontinuous conduction mode) buck converter. The analyses for the equivalent CCM boost and DCM buck converter are done using the model of PWM switch. The theoretical modeling results are confirmed through experiment or SIMPLIS simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.546-551
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• 1993

A new robust sliding mode controller is formulated for the tip position control of a single-link flexible manipulator with parameter variations. After establishing the plant model characterized by a noncollocated uncertain control system, a sliding surface which guarantees stable sliding mode motion is synthesized in an optimal manner. The surface is then modified to adapt arbitrarily given initial conditions. A discontinuous control law associated with the modified surface is designed by restricting that velocity state variables are not available from direct sensor measurements. Using the proposed control law favorable system responses are accomplished through shortening the reaching phase of state trajectory without increasing maximum control torque as well as undesirable chattering. Furthermore, a low sensitiveness to uncertainties is obtained from inherent salient properties of the proposed control system. Computer simulations are undertaken in order to demonstrate these superior control performance characteristics to be accrued from the proposed methodology.