• 센서학회지
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• 제28권2호
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• pp.81-87
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• 2019

One of the major issues in inertial and magnetic measurement unit (IMMU)-based 3D orientation estimation is compensation for magnetic disturbances in magnetometer signals, as the magnetic disturbance is a major cause of inaccurate yaw estimation. In the proposed approach, a kinematic constraint is used to provide a measurement equation in addition to the accelerometer and magnetometer signals to mitigate the disturbance effect on the orientation estimation. Although a Kalman filter (KF) is the most popular framework for IMMU-based orientation estimation, a complementary filter (CF) has its own advantages over KF in terms of mathematical simplicity and ease of implementation. Accordingly, this paper introduces a quaternion-based CF with a constraint-combined correction equation. Furthermore, the weight of the constraint relative to the magnetometer signal is adjusted to adapt to magnetic environments to optimally deal with the magnetic disturbance. In the results of our validation experiments, the average and maximum of yaw errors were $1.17^{\circ}$ and $1.65^{\circ}$ from the proposed CF, respectively, and $8.88^{\circ}$ and $14.73^{\circ}$ from the conventional CF, respectively, showing the superiority of the proposed approach.

• 대한전기학회논문지:전력기술부문A
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• 제48권10호
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• pp.1311-1316
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• 1999

A visual servoing method has been proposed based on disturbance observer to eliminate the effect of the off-diagonal component of image feature Jacobian, since performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability could be improved when an image feature Jacobian was given as a block diagonal matrix. In this paper, experimental results of disturbance observer-based visual servoing are discussed where Samsung FARAMAN-AS1 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilize the disturbance observer loop by saturating the differential changes of the image features.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.909-911
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• 1999

This paper proposes a robust control system with the disturbance observer for BLDC servo system. The overall control system is composed of the speed controller which is implemented with PI controller and the disturbance observer with free parameters. The BLDC servo system can improve the closed loop characteristics without affecting the command input response. The characteristics of the closed loop system is improved by suppressing disturbance effectively with the disturbance observer. Measurement noise is also considered by adjusting bandwidth of free parameters. We can overcome the drawbacks of the conventional PI controller. Finally, the performance of the controller is analyzed theoretically and some simulation results are presented to demonstrate the better performance than the conventional PI controllers.

• 한국군사과학기술학회지
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• 제26권1호
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• pp.72-82
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• 2023

The EOTS(Electro Optical Tracking System) must have stabilization performance to provide high-quality images under disturbance environment. In this paper, we present a controller that can minimize the LOS error and has a simple structure. Hence, to evaluate the performance of this controller, analysis in the frequency domain and LOS error measurement are performed. In order to measure the LOS error without a 'rate table' that requires a lot of facility investment, we propose a design method for disturbance model that considers the operating environment of the EOTS. Finally, the performance of the stabilization algorithm is evaluated by the proposed disturbance model.

• 한국분무공학회지
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• 제2권4호
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• pp.29-35
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• 1997

Liquid film thickness is measured by $moir\acute{e}$ topography which monitored liquid surface. $Moir\acute{e}$ fringe measurement techniques share the inherent simplicity found in optical interferometric techniques have the advantage of use over a greater range of displacement. $Moir\acute{e}$ fringe are the geometric interference patterns observed when two dense line grating are superposed. Light transmitted through a fixed line grating is deviated by the liquid film surface, producing a distored image of the grating. The $moir\acute{e}$ fringe produced by projection of this optically distored grating onto a second stationary grating permit visualization of the liquid surface and measurement of the liquid film thickness. This study measured the small amplitude of liquid film thickness to the $moir\acute{e}$ fringe pattern produced when spherical metal was dropped glycerin put)1 And the measurement of liquid film thickness flowing down an inclined plate are required to calculate the liquid slope in a position.

• 한국유체기계학회 논문집
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• 제13권4호
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• pp.18-24
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• 2010

For testing large-capacity pumps, the accurate flow rate measurement is needed in the test loop. As a measuring method of flow rate, venturi tube is recommended due to its low pressure loss. However, upstream disturbance of loop component such as a valve has an effect upon the accuracy of flow rate measurement. For controlling flow rate in case of high flow rate and large-scale piping system, a butterfly-type valve is generally used due to its compactness. However, a butterfly valve disturbs downstream flow by generating turbulence, cavities, or abrupt pressure change. In this study, the effect of downstream disturbance of butterfly valve on the flow rate measurement using a venturi tube is investigated. Test loop consists of circulation pump, reservoir, butterfly valve, venturi tube, and reference flow meter. The test is conducted with regard to a different valve opening angle of butterfly valve. According to the valve opening angle, the uncertainty of flow rate measurement is investigated.

• Journal of Electrical Engineering and Technology
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• 제8권3호
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• pp.472-477
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• 2013

An internet-based, real-time GPS synchronized wide-area power system frequency monitoring network(FNET) has been monitoring wide-area power system frequency in continuous time in the United States. This paper analyzes the FNET measurement to the verified disturbances in the US eastern interconnected power system and simulates it using the dynamic system model. By comparing the frequency measurements with its simulation results to the same disturbances in detail, this paper finds that the sequence of monitoring points to detect the frequency fluctuation caused by the disturbances is matched well in the measured data and the simulation results. The similarity comparison index is also proposed to quantify the similarity of the compared cases. The dynamic model based simulation result is expected to compensate for the lack of FNET measurement in its applications.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2000년도 추계학술대회 논문집
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• pp.79-83
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• 2000

A sliding mode fuzzy control (SMFC) with disturbance estimator is applied to design a controller for the third generation benchmark problem on an wind-excited building. A distinctive feature in vibration control of large civil infrastructure is the existence of large disturbances, such as wind, earthquake, and sea wave forces. Those disturbances govern the behavior of the structure, however, they cannot be precisely measured, especially for the case of wind-induced vibration control. Since the structural accelerations are measured only at a limited number of locations without the measurement of the wind forces, the structure of the conventional control may have the feed-back loop only. General structure of the SMFC is composed of a compensation part and a convergent part. The compensation part prevents the system diverge, and the convergent part makes the system converge to the sliding surface. The compensation part uses not only the structural response measurement but also the disturbance measurement, so the SMFC has a feed-back loop and a feed-forward loop. To realize the virtual feed-forward loop for the wind-induced vibration control, disturbance estimation filter is introduced. the structure of the filter is constructed based on an auto regressive model for the stochastic wind force. This filter estimates the wind force at each time instance based on the measured structural responses and the stochastic information of the wind force. For the verification of the proposed algorithm, a numerical simulation is carried out on the benchmark problem of a wind-excited building. The results indicate that the present control algorithm is very efficient for reducing the wind-induced vibration and that the performance indices improve as the filter for wind force estimation is employed.

• 한국전자파학회:학술대회논문집
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• 한국전자파학회 2002년도 종합학술발표회 논문집 Vol.12 No.1
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• pp.336-339
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• 2002

CISPR(Committee Internationale Special des Perturbations Radio Electriques) has proposed limits on the noises emitting from power lines and signal lines. But different measurement environment and different measurement methods are used in different countries. This difference causes much confusion in understanding the results measured by different test laboratories. In this paper, we measure EMI noise using the absorbing clamp method that takes short measurement time and is described in CISPR 13, 14-1, 16-2. We analyze the cause of the difference of measurement results.

• 한국산업정보학회논문지
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• 제7권1호
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• pp.10-15
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• 2002

시스템 외란과 계측 외란이 겹친 플랜트의 시스템과 외란 인식기술의 확장성을 소개하고자 한다. 시스템의 수의 상한영역과 외란주파수의 상한영역내에서 외란제거 모형과 외란효과가 외란이 겹친 입출력자료로부터 정기적인 외란의 직접적인 측정없이 정확히 회복될 수 있음을 보여 주고 있다. 시스템 및 외란 인식으로 계산되어 활용되는 자료: 성능관점의 모형 기저 반복학습제어시스템에 사용할 수 있게 된다. 이는 원치 않는 정기적인 외란을 제거하기 위함이다. 반복학습제어와 시스템 및 외란인식기술을 응용하면 복합구조물의 정밀도 품질보증 확보에 큰 기여를 하게 된다.