• 대한기계학회논문집
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• 제19권4호
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• 대한수학회지
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• 제45권4호
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• pp.1089-1100
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• 2008

For a pointed space X, the subgroups of self-homotopy equivalences $Aut_{\sharp}_N(X)$, $Aut_{\Omega}(X)$, $Aut_*(X)$ and $Aut_{\Sigma}(X)$ are considered, where $Aut_{\sharp}_N(X)$ is the group of all self-homotopy classes f of X such that $f_{\sharp}=id\;:\;{\pi_i}(X){\rightarrow}{\pi_i}(X)$ for all $i{\leq}N{\leq}{\infty}$, $Aut_{\Omega}(X)$ is the group of all the above f such that ${\Omega}f=id;\;Aut_*(X)$ is the group of all self-homotopy classes g of X such that $g_*=id\;:\;H_i(X){\rightarrow}H_i(X)$ for all $i{\leq}{\infty}$, $Aut_{\Sigma}(X)$ is the group of all the above g such that ${\Sigma}g=id$. We will prove that $Aut_{\Omega}(X_1{\times}\cdots{\times}X_n)$ has two factorizations similar to those of $Aut_{\sharp}_N(X_1{\times}\cdots{\times}\;X_n)$ in reference [10], and that $Aut_{\Sigma}(X_1{\vee}\cdots{\vee}X_n)$, $Aut_*(X_1{\vee}\cdots{\vee}X_n)$ also have factorizations being dual to the former two cases respectively.

• Journal of Power Electronics
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• 제11권2호
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• pp.120-131
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• 2011

This paper proposes two control strategies for the bidirectional Z-source inverters (BZSI) supplied by batteries for electric vehicle applications. The first control strategy utilizes the indirect field-oriented control (IFOC) method to control the induction motor speed. The proposed speed control strategy is able to control the motor speed from zero to the rated speed with the rated load torque in both motoring and regenerative braking modes. The IFOC is based on PWM voltage modulation with voltage decoupling compensation to insert the shoot-through state into the switching signals using the simple boost shoot-through control method. The parameters of the four PI controllers in the IFOC technique are designed based on the required dynamic specifications. The second control strategy uses a proportional plus resonance (PR) controller in the synchronous reference frame to control the AC current for connecting the BZSI to the grid during the battery charging/discharging mode. In both control strategies, a dual loop controller is proposed to control the capacitor voltage of the BZSI. This controller is designed based on a small signal model of the BZSI using a bode diagram. MATLAB simulations and experimental results verify the validity of the proposed control strategies during motoring, regenerative braking and grid connection operations.

• 한국군사과학기술학회지
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• 제18권2호
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• pp.181-188
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• 2015

This paper present, the result of the guidance and control law for a course correction munitions(CCM) with 2sets of canards positioned in the rotating nose section. The nonlinear simulation model of the CCM was developed based on 7DOF equation of motion. The ability of correcting position was verified by open-loop control input with nonlinear model. The guidance and control command was constructed by reference trajectory which can be obtained with no control. Finally, the performance of the guidance and control law was evaluated through Monte-carlo simulation. The CEP(Circular Error Probability) was obtained by considering the errors in muzzle velocity, aerodynamic coefficient, wind, elevation and azimuth angle and density.

• Journal of Power Electronics
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• 제10권5호
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• pp.451-460
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• 2010

This paper presents a new kind of digital control metal halide lamp electronic ballast. A zero-voltage-switch quasi-square-wave (ZVS-QSW) dual Buck converter is adopted here. In this paper, a digital control method is proposed to achieve ZVS for the converter. This ZVS can be realized during the whole working condition. Single-cycle-peak-current control is proposed to solve the problem of excessive inductor current during a low-frequency reversal transient. Power loop control is also realized and its consistency for different lamps is good. An AVR special microcontroller for a HID ballast is used to raise the control performance, and the low-frequency square-wave control method is adopted to avoid acoustic resonance. A 70W prototype was built in the laboratory. Experimental results show that the electronic ballast works reliably. Furthermore, the efficiency of the ballast can be higher than 92%.

• Journal of Power Electronics
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• 제12권4호
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• pp.519-527
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• 2012

A high step-down multiple-output LED driver is proposed in this paper. Firstly, the derivation of the driver with dual-output is presented and its operation principle and steady state performance are analyzed in detail. Secondly, a high step-down N-channel LED driver is proposed and its current auto-balance characteristic and step-down ratio are analyzed. Finally, an experimental prototype is built and the experimental results are given. The theoretical analysis and experimental results show that the proposed driver has the following virtues: First, if load balancing is achieved, the voltage gain is 1/N that of a Buck driver, where N is the number of channels. Second, each output automatically has an equal output current, without requiring more current close-loop control circuits than a Buck driver. Last, the voltage stresses of the switches and diodes are lower than those of a Buck driver, meaning that lower voltage switches and diodes can be used, and a higher efficiency can be expected.

• International Journal of Control, Automation, and Systems
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• 제5권1호
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• pp.104-109
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• 2007

This paper is about a redundancy management system design for the Smart UAV(unmanned aerial vehicle) which utilizes the tilt..rotor mechanism. In order to meet the safety requirement on the PLOC(probability of loss of control) of $1.7{\times}10^{-5}$ per flight hour for FCS (flight control system) failures, a digital FCS is mechanized with a dual redundant structure. A fault detection system which is composed of a CCM(cross channel monitor) and analytic redundancy using the Kalman filtering is designed, and its effectiveness is evaluated through experiments. A threshold level and persistence count for managing redundant sensors are designed based on the statistical analysis of the FCS sensors. To increase the survivability of the UAV after the loss of critical sensors in the SAS(stability augmentation system) and to provide reference information for a tie-breaking condition at which an ILM(in-line monitor) cannot distinguish the faulty channel between two operating ones, the Kalman filter approach is investigated.

• 디지털산업정보학회논문지
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• 제10권3호
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• pp.119-125
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• 2014

Echo cancellation is required for a dual-duplex high speed communication such as digital subscriber line(DSL), in order to allow each individual loop to operate in a full duplex fashion. Echo cancellation was one of the most difficult aspects of DSL design, requiring high linearity and total echo return loss in excess of 70 dB. For a long and rapidly changing echo response, if the echo is cancelled by an adaptive echo canceller, the echo canceller needs more taps and its performance is decreased. But if the response is divided into several responses, which response is estimated by a adaptive digital filter and combined, the computation complexities are decreased and the performance is increased. Therefore, the adaptive multi-stage echo canceller is proposed to decrease the computation complexity and increase the performance of echo return loss, in which the echo canceller is composed of several stage echo canceller estimating each divided echo response. Through computer simulations, this multi-stage echo canceller is verified to have merits for high speed communications such as DSL application.

• 한국산업융합학회 논문집
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• 제2권2호
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• pp.91-102
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• 1999

The paper describes a robust adaptive control algorithm for induction motor drive without speed sensor at low speed range. The control algorithm use only current sensors in a space vector pulse width modulation within loop control with rotor speed estimation and voltage source inverter. On-line rotor speed estimation is based on utilizing parallel model reference adaptive control system. MRAC of the modified flux model for flux and rotor speed estimator uses dual-adaptation mechanism, ${\omega}_r$ and ${\omega}_e$ scheme. The estimated flux components in the model can be compensated from the effects of offset errors on pure integrals. It can be compensated to the parameter variations and torque fluctuation with speed estimation in less then 10 rad/sec. In a simulation, the proposed induction motor control algorithm without speed sensor at very low speed range are shown to operate very well in spite of variable rotor time constant and fluctuating load without change the controller parameters. The suggested control strategy and estimation method have been validated by simulation study, and it proposed the designed system for the implementation using TI320C31 DSP/ASIC controller.

• 한국항공우주학회지
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• 제40권5호
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• pp.405-412
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• 2012

높은 효율의 풍력터빈 블레이드을 위해 와류 셀이 장착된 에어포일의 정지상태 및 동실 속 상태에서의 유동제어 특성을 수치적으로 연구하였다. 수치기법은 Roe의 flux-difference-splitting을 사용한 격자점 중심 유한체적법과 이중시간 전진 기법을 사용하는 내재적 시간적분법을 사용하였다. 계산결과 와류 셀을 장착한 경우 셀 내부의 부압으로 인해 양항비증가를 얻을 수 있음을 확인하였다. 동실속의 경우 셀 내부의 와류에 의해 hysterisis 현상을 상당히 감소시킬 수 있음을 확인하였다.