• 제어로봇시스템학회논문지
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• 제2권2호
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• pp.73-80
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• 1996

This paper proposes a stabilizing controller for the multirate sampled-data systems which have a periodic output measurement scheme. A sufficient condition for maintaining observability in the multirate sampled-data system is derived and a design strategy for disturbance rejection is proposed. The proposed controller has IMC structure, and can be decomposed into the disturbance estimator and the inverse of the fast uniform sampled plant. We assume that the plant is open-loop stable and the disturbance consists of a sum of finite number of sinusoids with different frequencies. An example is presented for illustrations.

• 제어로봇시스템학회논문지
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• 제6권6호
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• pp.462-470
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• 2000

This paper proposes a visual servoing method based on QR decomposition and disturbance observer. The QR decomposition factors the image feature Jacobian into a unitary matrix and an upper triangular matrix. And it is shown that several performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability can be improved for any general image feature Jacobian by QR decomposition and disturbance observer. To show the validity of the proposed approach, visual servoing with stereo vision is carried out for a Samsung FARAMAN 6-axis industrial robot manipulator.

• Journal of Power Electronics
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• 제2권1호
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• pp.55-66
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• 2002

A new on-line dead-time compensation method for a permanent magnet (PM) synchronous motor drive is proposed. Using a simple disturbance observer without any additional circuit and off-line experimental measurement, disturbance voltages in the synchronous reference dq frame caused by the dead time and non-ideal switching characteristics of power devices are estimated in an on-line manner and fed to voltage references in order to compensate the dead-time effects. The proposed method is applied to a PM synchronous motor drive system and implemented by using software of a digital signal processor (DSP) TMS320C31. Simulations and experiments are carried out for this system and the results well demonstrate the effectiveness of the proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3077-3079
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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-ASl 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilized the disturbance observer loop by saturating the differential changes of the image features.

• Journal of Electrical Engineering and Technology
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• 제8권3호
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• pp.446-452
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• 2013

Under frequency load shedding (UFLS) is an effective way to prevent system blackout after a serious disturbance occurs in a power system. A novel centralized adaptive under frequency load shedding (AUFLS) scheme using the synchronous phase measurement unit (PMU) is proposed in this paper. Two main stages are consisted of in the developed technique. In the first stage, the active power deficit is estimated by using the simplest expression of the generator swing equation and static load model since the frequency, voltages and their rate of change can be obtained by means of measurements in real-time from various devices such as phase measurement units. In the second stage, the UFLS schemes are adapted to the estimated magnitude based on the presented model. The effectiveness of the proposed AUFLS scheme is investigated simulating different disturbance in IEEE 10-generator 39-bus New England test system.

• 한국소음진동공학회논문집
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• 제21권9호
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• pp.828-833
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• 2011

A reaction wheel assembly(RWA) is the largest disturbance source that can induce high frequency micro-vibration on an optical payload of satellites. To ensure a tight pointing-stability budget of satellites, the RWA disturbance effect on spacecraft should be accurately analyzed and evaluated for whole design phases. For this purpose, the micro-vibration disturbance of RWA should be precisely measured. In the present study, two measurement methods on RWA micro-vibration disturbances are compared and investigated. One is a free run-down speed test and the other is a constant speed test. The micro-vibration data measured by the two methods are analyzed in terms of spectrum characteristics, static and dynamic imbalance values, and root sum square(RSS) values. The analysis results show that both methods can measure very similar results in time and frequency domains and that the free run-down speed method is more adequate in respects to wheel friction modeling, noise rejection of imbalance and RSS peak evaluation.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.246-250
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• 2000

A distinctive feature in vibration control of a 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. The sliding mode fuzzy control (SMFC), which is of interest in this study, may use not only the structural response measurement but also the wind force measurement. Hence, an adaptive disturbance estimation filter is introduced to generate a wind force vector at each time instance based on the measured structural response and the stochastic information of the wind force. The structure of the filter is constructed based on an auto-regressive with auxiliary input model. A numerical simulation is carried out on a benchmark problem of a wind-excited building. The results indicate that the overall performance of the proposed SMFC is as good as the other methods and that most of the performance indices improve as the adaptive disturbance estimation filter is introduced.

• 대한기계학회논문집A
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• 제41권8호
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• pp.783-789
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• 2017

9축 IMMU기반의 3차원 자세추정에 있어 대표적인 정확성 저하요인은 가속도계 신호를 교란시키는 외부가속도와 지자기센서 신호와 관련된 자기교란이라는 두 가지 교란성분이다. 교란성분에 의한 영향을 최소화하기 위해 모델링기반 기법과 스위칭 기법이 제안되어 왔고, 이를 비교한 연구도 진행된 바 있다. 그러나 모델링기반 기법에서 모델링의 차이가 자세추정 성능에 미치는 영향에 대한 연구는 현재까지 발표된 바 없다. 본 논문은 교란성분 모델링이 IMMU기반 자세추정 정확성에 미치는 영향을 확인하기 위해, 모델링에 차이가 있는 최근 발표된 두 알고리즘을 다양한 시험조건에서 비교하였다. 이를 통해 교란성분 모델링의 차이는 진행잡음 공분산 행렬에 차이를 발생시키며, 이로 인해 자세추정 성능에 영향을 끼칠 수 있음을 확인할 수 있었다. 시험결과 두 알고리즘은 평균제곱근오차에서 롤 피치 요평균 $1.35^{\circ}$ 및 요성분 $3.63^{\circ}$의 차이를 발생시켰다.

• 한국정밀공학회지
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• 제24권4호
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• pp.131-137
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• 2007

Electronic Speckle Pattern Interferometry(ESPI) is a common method for measuring out-of-plane deformation and in-plane deformation and applied for vibration analysis and strain/stress analysis. However, ESPI is sensitive to environmental disturbance, which provide the limitation of industrial application. On the other hand, Shearography based on shearing interferometer which is insensitive to vibration disturbance can directly measure the first derivative of out-of-plane deformation. In this paper a technique that extract out-of-plane deformation from results of shearography by numerical processing is proposed and measurement results of ESPI and Shearoraphy are compared quantitatively.

• 한국광학회:학술대회논문집
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• 한국광학회 2005년도 하계학술발표회
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• pp.272-273
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• 2005