• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1581-1584
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• 1997

This paper poropsed an efficient optimization technuque to resolve redundancy and a trajectory planning for a high precision control using proposed optimization technique. The proposed techniqus is the joint disturbance torque optimizatioin considering redundancy in the joing servo control. Joint disturbance torque is not unknown it is described dynamic equation ignored friction and viscosity. The proposed technique is used the dynamic equatiion included the joint disturbance torque characteristics. Numerical example of 3 joint planar redundant robot manipulator is simulated. In the 2-norm minimization of joint disturbance torque we compared pseudoinverse local optimization with proposed technique, and the results showed better the proposed technique. So the proposed technique can be highly precision controlled redundant robot manipulators in the joint servo control.

• Transactions on Control, Automation and Systems Engineering
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• 제2권1호
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• pp.56-61
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• 2000

Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which result in the trajectory tracking error in the joint control system. The control performance of a redundant manipulator under independent joint control can be improved by minimizing this joint disturbance torque in resolving the kinematic redundancy. A 3 DOF planar robot is studied as an example, and the dynamic programming method is used to find the globally optimal joint trajectory that minimize the joint disturbance torque over the entire motion. The resulting solution is compared with the solution obtained by the conventional joint torque minimization, and it is shown that joint disturbance can be reduced using the kinematic redundancy.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제5권1호
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• pp.1-6
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• 2016

본 논문은 NAND Flash Memory 수명을 향상시키기 위한 동작 algorithm 개선을 제안한다. Flash memory에 대한 read/write/erase 과정에서, 해당 cell의 Vth가 원하는 level대로 위치를 한다면 문제가 없으나, 원하는 위치대비 변동이 되어 있다면 잘못된 data를 읽어내게 된다. 이러한 cell간 interference나 disturbance 현상들은 program이나 erase 동작이 반복(EW cycle)될수록 더 심해지는 특징이 있다. 이는 반복되는 high bias 인가상태에서 벌어지는 FN tunneling 현상으로 인한 tunnel oxide 막질손상(trap site 증가)에 기인한다고 알려져 있다. 본 논문에서는 erase cell 관점에서 stress양 자체를 감소시킴으로써 cell 열화 속도를 느리게 하여, 궁극적으로 발생하는 Vth 변동사항인 disturbance를 줄일 수 있는 erase 동작방법에 대해 논한다.

• 전기학회논문지
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• 제64권8호
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• pp.1217-1223
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• 2015

In this paper, we study the problem of torque ripple minimization in Brushless DC Motors (BLDC) and proposes a disturbance observer (DOB) based controller in order to efficiently reduce the torque ripple. In the DOB based control system, an equivalent disturbance (plant disturbance and effect of modelling error) is cancelled by its estimate. When the DOB controller is applied to BLDC motors, the effect of inverter switching is considered as an equivalent disturbance and to be cancelled by the DOB controller. Through computer simulations, it is shown that the performance of the proposed DOB controller is superior to that of the conventional PI controller. In the case where the numerical values of resistance and inductance are not known exactly, it is shown that the proposed DOB controller achieves better performance than the PI controller.

• 대한전자공학회논문지
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• 제27권7호
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• pp.997-1004
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• 1990

In this paper, a design method of a robust adaptive regulator with feedfoward path based on the explicit criterion minimization is proposed. The convergence speed of parameter estimation is improved by using the stochastic Newton minimization method in the criterion minimization algorithm, and sensitivity derivatives are used in the regulator calculation for improving the robustness of the control system. Trh proposed adaptive regulator is applied to the stable minimum-phase and nonminimum-phase system, the results are shown that control performance and disturbance compensation ability of the regulator are improved. And the choosing method of input penalty is proposed.

• 한국인터넷방송통신학회논문지
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• 제14권6호
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• pp.55-61
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• 2014

본 논문은 CMA 적응등화기에서 최소 disturbance 기법을 적용하여 진폭과 위상의 동시 보상이 가능한 ECMA (Enchanced CMA) 알고리즘의 성능에 관한 것이다. ECMA는 적응등화기 탭 계수의 변화량을 squared euclidean norm 관점에서 최소화하는 최소 disturbance 기법과 decision directed mode에 의한 gradient noise amplification 문제와 안정도 및 roburstness 성능을 알고리즘 연산량의 큰 증가없이 개선할 수 있고, 수신신호에서 진폭과 위상의 동시 보상이 가능하도록 새로운 비용함수를 제안하였다. 논문에서는 ECMA 알고리즘의 성능을 MCMA와 비교하기 위하여 컴퓨터 시뮬레이션을 수행하였다. 이를 위하여 수신측에서의 등화기 출력신호인 복원된 신호 성상도, 수렴 성능을 나타내는 성능지수인 잔류 isi 및 MD (Maximum Distortion), MSE 특성곡선과 채널과 등화기의 종합 주파수 특성을 성능 비교 지수로 사용하였다. 시뮬레이션 결과 ECMA가 복원성상도에서 진폭과 위상보상 능력 및 적응등화를 위한 수렴시간에서 MCMA보다 우월함을 알 수 있었다.

• Journal of Electrical Engineering and Technology
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• 제11권2호
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• pp.425-436
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• 2016

In this paper, a parameter optimization based iterative learning control strategy is presented for permanent magnet synchronous motor control. This paper analyzes the mechanism of iterative learning control suppressing PMSM torque ripple and discusses the impact of controller parameters on steady-state and dynamic performance of the system. Based on the analysis, an optimization problem is constructed, and the expression of the optimal controller parameter is obtained to adjust the controller parameter online. Experimental research is carried out on a 5.2kW PMSM. The results show that the parameter optimization based iterative learning control proposed in this paper achieves lower torque ripple during steady-state operation and short regulating time of dynamic response, thus satisfying the demands for both steady state and dynamic performance of the speed regulating system.

• 한국정밀공학회지
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• 제3권1호
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• pp.29-39
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• 1986

An adaptive controller which is robust to the unknown load disturbance is developed for electro-hydraulic speed control systems. Since the load disturbance degrades the performance of the controller such as a steady state error and rise time in the conventional control system, appropriate adjustment of the controller is necessary in order to obtain the desired performances. The adaptation mechanism was designed to tune the feedforward gain, based upon minimization of ITAE (integral of time-multiplied absolute error) performance. The unknown load distrubance was identified by using an analog computer from the relationship between the velocity of the hydraulic motor and the load pressure. To evaluate the performance of the controller a series of simulations and experiments were conducted for various load conditions. Both results show that the proposed adaptive controller shows abetter performance than the conventional controller in terms of the steady state error and rise time.

• International Journal of Control, Automation, and Systems
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• 제4권5호
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• pp.653-659
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• 2006

The design of $H_2$-optimal control with regional pole assignment via state feedback in linear time-invariant systems is investigated. The aim is to find a state feedback controller such that the closed-loop system has the desired eigenvalues lying in some desired stable regions and attenuates the disturbance between the output vector and the disturbance vector. Based on a proposed result of parametric eigenstructure assignment via state feedback in linear systems, the considered $H_2$-optimal control problem is changed into a minimization problem with certain constraints, and a simple and effective algorithm is proposed for this considered problem. A numerical example and its simulation results show the simplicity and effectiveness of this proposed algorithm.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2009년도 춘계 학술발표회
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• pp.464-475
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• 2009

Electrical resistivity can be used for porosity estimation. In order to improve previously developed ERCP(Electrical Resistivity Cone Probe), 4ERP(4 Electrical Resistivity Probe), which has Wenner array at the tip of probes, has been developed. In properties of current flow Wenner array measures electrical properties of undisturbed area during penetration and relatively correct measurements are guaranteed without polarization. Furthermore, Wenner array equation can estimate electrical resistivity without extra calibration. 4ERP is developed into 2 types, penetration and fixation. Penetration type has wedge-shaped tip. Considering disturbance minimization, fixed type has plane tip. Fixed type 4ERP in consolidation cell measure electrical resistivity increment along porosity decrease, and penetration type 4ERP measured resistivity profile along the depth in chamber. Applying Archie's law, porosity profile was estimated with electrical resistivity. The tests result suggests that 4ERP can be new site investigation equipment with little disturbance.