• 한국소음진동공학회논문집
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• 제22권10호
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• pp.949-958
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• 2012

Position tracking control of a link of a slave manipulator which needed to track the corresponding link of a master manipulator was addressed in this paper. Since driving torque from motor is transmitted through a set of flexible cable to link, the motion control system is modeled by a two-mass model connected with elastic coupling which has finite stiffness. Relative vibration of two-mass resonant system is a serious problem to operate manipulator. This paper proposed sliding mode control to reduce resonant vibration and fine position tracking control. Also, a pseudo-sliding mode control which uses a saturation function instead of a signum function was discussed and showed that the pseudo-sliding mode control can improve disturbance regulation performance as well as guarantees fine command tracking without chattering which is an inherent drawback of basic sliding mode control. In addition, a disturbance observer based sliding mode control has been suggested to improve disturbance regulation performance. The feasibility of the proposed control design was verified along with some simulation results.

• 로봇학회논문지
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• 제14권3호
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• pp.186-190
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• 2019

When problems occurred in the unstable and/or extreme terrain environment, formal field-driving robots were unable to provide any other options such as the transformation of the wheel and body structure, and so on. For such reason, this paper proposed a novel type of integrated wheel mechanism that can be operated as a conventional driving wheel mode and hybrid wheel-leg mode in order to be negotiated in an unstable terrain environment. The mechanical effect of the proposed variable wheel mechanism was analyzed considering the geometric constraint and power requirement of the actuator for the transformation. In addition, we designed and manufactured the prototype of field-driving robot, which reliably control the variable wheel shape. Finally, the effectiveness of the variable wheel mechanism was verified by preliminary experimental approach.

• Journal of Electrical Engineering and Technology
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• 제13권5호
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• pp.2116-2124
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• 2018

Magnetic levitation system with the advantages of non-contact, no friction and no wear can satisfy the requirement of high precision and high speed positioning. In this paper, magnetic levitation positioning stage which mainly consists of planar coil and HALBACH permanent magnet array and its control and driving system are designed. Magnetic levitation system is a highly nonlinear and strongly coupled complex system and its control performance can be influenced by the uncertainty and external disturbance. So exact feedback linearization method is used to realize exact linearization and decoupling, and a strategy of sliding mode control based on disturbance observer is proposed to compensate the uncertainty and external disturbance. Detailed proofs of observer's convergence property and system stability are derived. Both the simulation and experiment results verify the effectiveness of sliding mode control algorithm based on disturbance observer.

• 한국분무공학회지
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• 제21권1호
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• pp.1-6
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• 2016

A gasoline injector rig which can measure cumulative injected fuel mass under a vehicle driving condition was developed. The measurement system consists of an engine control unit (ECU), data acquisition (DAQ) and injected fuel collection system using loadcells. By supplying reconstructed sensor signals which simulate the real vehicle's sensor signals to the ECU, the ECU drives injectors as if they were driven in the vehicle. The vehicle's performance was computer simulated by using $GT-Suite^{(R)}$ software based on both engine part load performance and automatic transmission shift map. Throttle valve position, engine and vehicle speed, air mass flow rate et al. were computer simulated. The used vehicle driving pattern for the simulation was FTP-75 mode. For reconstructing the real vehicle sensor signals which are correspondent to the $GT-Suite^{(R)}$ simulated vehicle's performance, the DAQ systems were used. The injected fuel was collected with mess cylinders. The collected fuel mass in the mess cylinder with elapsed time after starting FTP-75 driving mode was measured using loadcells. The developed method shows highly improved performance in fast timing and accuracy of the cumulative injected fuel mass measurement under the vehicle driven condition.

• Journal of Power Electronics
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• 제14권2호
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• pp.217-225
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• 2014

This paper deals with the optimization of the driving techniques for the ZVT synchronous buck converter proposed in [1]. Two new gate drive circuits are proposed to allow this converter to operate by only one control signal as a 12V voltage regulator module (VRM). Voltage-driven method is applied for the synchronous rectifier. In addition, the control signal drives the main and auxiliary switches by one driving circuit. Both of the circuits are supplied by the input voltage. As a result, no supply voltage is required. This approach decreases both the complexity and cost in converter hardware implementation and is suitable for practical applications. In addition, the proposed SR driving scheme can also be used for many high frequency resonant converters and some high frequency discontinuous current mode PWM circuits. The ZVT synchronous buck converter with new gate drive circuits is analyzed and the presented experimental results confirm the theoretical analysis.

• 전기학회논문지
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• 제65권1호
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• pp.150-157
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• 2016

In this paper, a control system for E-bike based on IOT was developed, which collects and monitors information of states of E-bike and surrounding environments from several sensors and control devices in E-bike, and informs the possible dangers to rider when riding the E-bike. Developed electronic control system can manage battery efficiently, obtain battery's remaining power in real-time and provide possible riding distance to rider. It makes possible for rider to schedule near optimal riding route in terms of battery usage and respond quickly to battery discharge. Results of applying developed system to E-bike show that according to driving-mode, possible driving distance can be calculated efficiently and using user application App, real-time driver position marking and driving route searching functions lead to energy efficient E-bike driving. Later we will endeavor to integrate BMS, ECU, smart-phone and PC(server) to provide stable driving system based on various driving information of E-bike.

• Journal of Mechanical Science and Technology
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• 제15권10호
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• pp.1398-1407
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• 2001

In this paper an anti-lock brake system (ABS) for commercial buses is proposed based on a fuzzy-logic controller and a sliding-mode observer of the vehicle speed. The brake controller generates pulse width modulated (PWM) control inputs to the solenoid valve of each brake, as a function of the estimated wheel slip ratio. PWM control inputs at the brakes significantly reduce chattering in the brake system compared with conventional on-off control inputs. The sliding-mode observer estimates the vehicle speed with measurements of wheel speed, which is then sed to compute the wheel slip ratio. The effectiveness of the proposed control algorithm is validated by a series of computer simulations of bus driving, where the 14-DOF bus model is used.

• 한국지능시스템학회논문지
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• 제26권1호
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• pp.16-22
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• 2016

세계적으로 수많은 로봇연구실에서 이륜 도립진자 이동로봇에 대한 연구가 진행되고 있다. 본 논문에서는 이런 이륜 도립진자 이동로봇이 평탄한 경사면에서 안정적으로 주행할 수 있도록 하는 강인 제어기를 개발하는 것으로 고려한다. 경사면에서 이륜 도립진자 이동로봇의 균형을 위해 3 자유도의 운동방정식에서 선회운동을 제한한 2 자유도 동력학식을 사용하며, 가변구조시스템 이론을 근간으로 하는 슬라이딩 모드 제어기를 제안하고 LQR 이론을 이용하여 슬라이딩 운동이 일어나는 슬라이딩 평면을 설계한다. 시뮬레이션을 위해 Mathworks사의 Simulink를 활용하여 이륜 도립진자 이동로봇의 2 자유도 모델을 실현하고, 슬라이딩 모드 제어기 또한 Simulink를 이용하여 구현한다. 시뮬레이션 결과를 통해 제안된 제어기가 경사면을 주행하는 이륜 도립진자 이동로봇을 효과적인 제어한다는 것을 보인다.

• 전기학회논문지
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• 제59권3호
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• pp.555-561
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• 2010

In this paper, the constant current controller is designed to regulate the driving current of a power LED. The controller design model of the power LED including its driving circuit is proposed to design the constant current controller. A buck converter is also introduced to drive the power LED. The PI-based digital controller is implemented to validate the proposed strategy for the power LED driving.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.353-360
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• 2010

A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle's driving and wheel's rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally.