• The Transactions of the Korean Institute of Power Electronics
• /
• v.27 no.1
• /
• pp.33-39
• /
• 2022

A multi-phase brushless direct current (BLDC) motor is widely used in large-capacity electric propulsion systems such as submarines and electric ships. In particular, in the field of military submarines, the polyphaser motor must suppress torque ripple in various failure situations to reduce noise and ensure stable operation for a long time. In this paper, we propose a polyphaser current control method that can improve efficiency and reduce torque ripple by minimizing the increase in stator winding loss at maximum output torque by controlling the phase angle and amplitude of the steady-state current during open circuit failure of the stator winding. The proposed control method controls the magnitude and phase angle of the healthy phase current, excluding the faulty phase, to compensate for the torque ripple that occurs in the case of a phase open failure of the motor. The magnitude and phase angle of the controlled steady-state current are calculated for each phase so that copper loss increase is minimized. The proposed control method was verified using hardware-in-the-loop simulation (HILS) of a 12-phase BLDC motor. HILS verification confirmed that the increase in the loss of the stator winding and the magnitude of the torque ripple decreased compared with the open phase fault of the motor.

• Aerospace Engineering and Technology
• /
• v.9 no.1
• /
• pp.1-8
• /
• 2010

The tilt-rotor Smart UAV(Unmanned Air Vehicle) has been developed by KARI(Korea Aerospace Research Institute) for civil purposes. In order to prove the reliabilities of total system of Smart UAV, the series of ground tests were performed including system interface test, aircraft HILS(Hardware In the Loop Simulation) Test, ground power test, 4-DOF (Degrees of Freedom)rig test, and tethered hover test. Many unexpected problems occurred at each ground test. With clearing these problems, the total Smart UAV systems were matured and the airworthiness was proven enough. After complete of additional ground test proposed by FRRB(Flight Readiness Review Board), the first flight test will be performed in this year. This paper presents the procedures and the analysis results of the ground tests for the tilt-rotor Smart UAV.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1786-1790
• /
• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.19 no.2
• /
• pp.185-194
• /
• 2016

It is essential for generating the synthetic image to test and evaluate a guided missile system in the hardware-in-the-loop simulation. In order to make the evaluation results to be more reliable, the extent of fidelity and rendering performance of the synthetic image cannot be left ignored. There are numerous challenges to simulate the LWIR sensor signature of sea surface depending on the incident angle, especially in the maritime environment. In this paper, we investigate the key factors in determining the apparent temperature of sea surface and propose the approximate formula consisting of optical characteristics of sea surface and sky radiance. We find that the greater the incident angle increases, the larger the reflectivity of sea surface, and the greater the water vapor concentration in atmosphere increases, the larger the amount of sky radiance. On the basis of this information, we generate the virtual maritime environment in LWIR region using the SE-WORKBENCH, physically based rendering software. The margin of error is under seven percentage points.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.21 no.1
• /
• pp.88-93
• /
• 2016

LCL filters are widely used in high-order harmonics attenuation of output currents in grid-connected inverters. However, output currents of grid-connected inverters with LCL filters can become unstable because of the resonance of the filters. Given that the characteristics of output currents in inverters mostly depend on filter performance, the exact analysis of filters by considering parasitic components is necessary for both harmonics attenuation and current control. LCL filters have three or four parasitic components: the series and/or parallel resistance of the filter capacitor and the series resistance of the two filter inductors. Most studies on LCL filters have focused on the parasitic components of the filter capacitor. Although several studies have addressed the parasitic components of the filter inductor at the inverter side, no study has yet investigated the concurrent effects of series resistance in both filter inductors in detail. This paper analyzes LCL filters by considering series resistance in both filter inductors; it proposes an active damping method based on the virtual series resistance of LCL filters. The performance of the proposed active damping is then verified through both simulation and experiment using Hardware-in-the-Loop Simulator(HILS).

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.9 s.180
• /
• pp.2228-2234
• /
• 2000

Steering of the vehicles on a slippery highway is a difficult task for most passenger car drivers. The steering vehicles on slippery roads tend to slide outward with less lateral forces than on nor mal roads. When the drivers notice that their vehicles on a slippery highway start to depart from the cornering lane, most of them make a sudden steering and/or braking, which in turn may induce spin-out and instability on their vehicles. In this paper, an active steering control method is proposed such that the vehicles in slippery roads are steered as if they are driven on the normal roads. In the proposed method, the estimated lateral forces acting on the steering tires are compared with the reference values and the difference is compensated by the active steering method. A fuzzy logic controller is designed for this purpose and evaluated on a steering Hardware-In-the-Loop Simulation (HILS) system. Steering performance results on the slippery curved and sinus roads demonstrate the effectiveness of the proposed controller. This method can be realized with the steer-by-wire concept and is promising as an active safety technology.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2005.05a
• /
• pp.180-183
• /
• 2005

The engine mount of vehicle systems is role of support engine mass and isolate noise and vibration from engine disturbance forces. One of attractive candidates to achieve this goai is to utilize a semi-active ER engine mount. By applying this, we can effectively control damping force and hence the noise and vibration by just controlling the intensity of electric field. However, control performance of the engine mount may be very sensitive to temperature variation during engine operation. In this work, we Investigate dynamic performances of ER engine mount with respect to the temperature variation. In order to undertake this, a flow-mode type of ER engine mount is designed and manufactured. Displacement transmissibility is experimentally and numerically evaluated as a function of the electric field. The ER engine mount is then incorporated with full-vehicle model in order to investigate vibration control performance. After formulating the governing equation of motion, a semi-active controller is designed. The controller is implemented through a hardware-in-the-loop simulation (HILS), and control responses such as acceleration level at various engine speeds are evaluated in the frequency and time domains.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.1
• /
• pp.104-109
• /
• 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.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.17 no.5
• /
• pp.26-30
• /
• 2009

In this paper, a robust model based fault detection for varying temperature is proposed, To develop a robust force estimation model, it needs temperature information because the force sensor's output is affected by a temperature variation. If an EPB system does not include a temperature sensor, the model has a much larger error than an EPB system with a built-in temperature sensor. Therefore, the temperature is estimated by using Ohm's law. The force model is applied with a motor current, battery voltage, operation mode, and the estimated temperature to detect a force sensor's abnormal signal fault. The residual is calculated by comparing the value of the measured force and the estimated force. Fault information is collected by using the output of the evaluated residual with the adaptive thresholds. A proposed robust model based fault detection for varying temperature was verified by HILS (Hardware in the Loop Simulation).

• The Journal of the Acoustical Society of Korea
• /
• v.13 no.2
• /
• pp.30-37
• /
• 1994

Since the morden targets are of high speed and getting quiet in both active and passive mode, the necessities of developing advanced SONAR system capable of performing target motion analysis (TMA) and target classification are evident. In order to develop such a system, the scattering mechanism of complex bodies needs to be, some extent, fully understood and modeled. In this paper, MOving Spread Target(MOST) signal simulation model is presented and discussed. The model is based on the highlight distribution method, and simulates pulse elongation of spread target, doppler effect due to kinematics of the target as well as SONAR platform, and distribution target strength of each highlight point (HL) with directivity. The model can be used in developing and evaluating advanced SONAR system through system simulation, and can also be used in the development of target state estimation algorithm.