• The Transactions of the Korean Institute of Power Electronics
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• v.27 no.6
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• pp.481-488
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• 2022

This study proposes compensation methods for the initial position error and torque ripple in vector control of two-phase hybrid stepping motors. Stepping motors have an asymmetrical structure due to misalignment, such as the eccentricity generated by the manufacturing and assembly process. When vector control is applied using the position information measured by an incremental encoder attached to the rotor shaft of such stepping motors, the following problems occur. First, an initial position error occurs during the forced excitation process for the initial rotor position alignment. Second, torque ripple corresponding to the mechanical rotation frequency is generated. In this study, these non-ideal phenomena that occur in vector control of the stepping motor are analyzed, and compensation methods are proposed to eliminate them. The validity of the proposed initial position error and torque ripple compensation methods is verified through experiments on a two-phase hybrid stepping motor drive system.

• Journal of Ocean Engineering and Technology
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• v.19 no.6 s.67
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• pp.78-85
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• 2005

Initial alignment and localization are important topics in inertial navigation systems, since misalignment and initial position error wholly propagate into the navigation systems and deteriorate the performance of the systems. This paper presents the error convergence characteristics of the hybrid navigation system for underwater vehicles initial position, which is based on an inertial measurement unit (IMU) accompanying a range sensor. This paper demonstrates the improvement on the navigational performance oj the hybrid system with the range information, especially focused on the convergence of the estimation of underwater vehicles initial position error. Simulations are performed with experimental data obtained from a rotating ann test with a fish model. The convergence speed and condition of the initial error removal for random initial position errors are examined with Monte Carlo simulation. In addition, numerical simulation is conducted with an AUV model in lawn-mowing survey mode to illustrate the error convergence of the hybrid navigation System for initial position error.

• Phonetics and Speech Sciences
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• v.7 no.2
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• pp.19-28
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• 2015

This study investigated final consonant error characteristics at word-medial position in children with functional articulation disorder. Data was collected from 11 children with functional articulation and 11 normal children, ages 4 to 5. The speech samples were collected from a naming test. Seventy-five words with every possible bi-consonants matrix at the word-medial position were used. The results of this study were as follows : First, percentage of correct word-medial final consonants of functional articulation disorder was lower than normal children. Second, there were significant differences between two groups in omission, substitution and assimilation error. Children with functional articulation disorder showed a high frequency of omission and regressive assimilation error, especially alveolarization in regressive assimilation error most. However, normal children showed a high frequency of regressive assimilation error, especially bilabialization in regressive assimilation error most. Finally, the results of error analysis according to articulation manner, articulation place and phonation type of consonants of initial consonant at word-medial, both functional articulation disorder and normal children showed a high error rate in stop sound-stop sound condition. The error rate of final consonant at word-medial position was high when initial consonant at word-medial position was alveolar sound and alveopalatal sound. Futhermore, when initial sounds were fortis and aspirated sounds, more errors occurred than linis sound was initial sound. The results of this study provided practical error characteristics of final consonant at word-medial position in children with speech sound disorder.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.56.1-56
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• 2001

Initial attitude error is one of the large error sources in the navigation errors of SDINS. And it is important to decide the initial attitude of SDINS. The method, like a self-alignment or a transfer alignment method, is required to a precise INS. If we do not have a precise INS, we should get large attitude error. After performing the initial alignment, a vehicle has the initial attitude error. Therefore, it results in navigation error due to the initial attitude error. But, if we use position information during flight, we could estimate and compensate a vehicle attitude error. So, we can maintain a precise attitude in spite of existing the initial attitude error. Using the uplinked position information from a land-based radar system, the new algorithm estimates the attitude of the SDINS during flight ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.64.5-64
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• 2001

It is a very important problem that we grasp the accurate position at car navigation system. The GPS has used for knowing position because of accumulating few errors, but it have errors that are Tropospheric error, ionospheric error and Multipath error and so on. In this paper, We estimate moving position of a vehicle by Kalman filter using initial value after deducing the line equation using initial value and target value of map data. Then, we compensate GPS errors compare estimated poing with GPS errors. The experimental results have shown that are compared position data during real travel with compensated position data which are got after applying the algorithm ...

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.307-310
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• 2003

In this paper, an iterative learning control method is applied to suppress the vibration of a 2-mass system which has a flexible coupling between a load an a motor. More specifically, conditions for the load speed without vibration are derived based on the steady-state condition. And the desired motor position trajectory is synthesized based on the relation between the load and motor speed. Finally, a PD-type learning iterative control law is applied for the desired motor position trajectory. Since the learning law applied for the desired trajectory guarantees the perfect tracking performance, the resulting load speed shows no vibration. In order to handle the initial position error, the PD-type learning law is changed to PID-type and a weight function is added to suppress the residual vibration caused by the initial error. The simulation results show the effectiveness of the proposed learning method.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1241-1248
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• 2004

A controller of wheeled mobile robot(WMR) based on Lyapunov theory is designed and a Fuzzy-Neural Network algorithm is applied to this system to adjust controller gain. In conventional controller of WMR that adopts fixed controller gain, controller can not pursuit trajectory perfectly when initial condition of system is changed. Moreover, acquisition of optimal value of controller gain due to variation of initial condition is not easy because it can be get through lots of try and error process. To solve such problem, a Fuzzy-Neural Network algorithm is proposed. The Fuzzy logic adjusts gains to act up to position error and position error rate. And, the Neural Network algorithm optimizes gains according to initial position and initial direction. Computer simulation shows that the proposed Fuzzy-Neural Network controller is effective.

• Proceedings of the KIPE Conference
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• 2003.11a
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• pp.104-108
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• 2003

This paper explained algorithm for a initial pole position estimation of a permanent magnet linear synchronous motor(PMLSM). Generally this motor is considered initial pole position with a position sensor such as incremental encoder for the precise initial pole position estimation and high performance. But this is based on the principle that the initial pole position is accomplished by the PI controller using the maximum values of a position error generated by the new proposed two reference frames and also by using a rated force for input. the proposed algorithm does not utilize the general methods such as impedance ratio, EMF and using the magnetic saturation. In other words, this can be applied without respect to variety of the motor structure because of insensitivity to the motor parameters. In conclusion, simulation results are presented to confirm performance of initial pole position estimation method.

• Phonetics and Speech Sciences
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• v.6 no.1
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• pp.11-19
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• 2014

The focus of this study was to investigate whether there is a position effect on identification accuracy of L2 consonants by Korean listeners and to examine how Korean listeners perceive the phonetic properties of initial and final consonants produced by a Korean learner of English and an English native speaker. Most studies examining L2 learners' perception of L2 sounds have focused on the segmental level but very few studies have examined the role of prosodic position in L2 learners' perception. In the present study, an identification test was conducted for English consonants /p, t, k, f, ɵ, s, ʃ/ in CVC prosodic structures. The results revealed that Korean listeners identified syllable-initial consonants more accurately than syllable-final consonants. The perceptual accuracy in syllable initial consonants may be attributable to the enhanced phonetic properties in the initial consonants. A significant correlation was found between error rates and F2 onset/offset for stops and fricatives, and between perceptual accuracy and RMS burst energy for stops. However, the identification error patterns were found to be different across consonant types and between the different language speakers. In the final position, Korean listeners had difficulty in identifying /p/, /f/, /ɵ/, and /s/ when they were produced by a Korean speaker and showed more errors in /p/, /t/, /f/, /ɵ/, and /s/ when they were spoken by an English native speaker. Comparing to the perception of English consonants spoken by a Korean speaker, greater error rates and diverse error patterns were found in the perception of consonants produced by an English native speaker. The present study provides the evidence that prosodic position plays a crucial role in the perception of L2 segments.

• Phonetics and Speech Sciences
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• v.5 no.3
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• pp.73-81
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• 2013

Coda in the word-medial position plays an important role in acquisition of our speech. Accuracy of the coda in the word-medial position is important as a diagnostic indicator since it has a close relationship with degrees of disorder. Coda in the word-medial position only appears in condition of connecting two vowels and the sequence causes diverse phonological processes to happen. The coda in the word-medial position differs in production difficulty by the initial sound in the sequence. Accordingly, this study aims to examine the tendency of producing a coda in the word-medial position with consideration of an optional phonological process in spontaneous speech of three and four year old children. Data was collected from 24 children (four groups by age) without speech and language delay. The results of the study are as follows: 1) Sonorant coda in the word-medial position showed a high production frequency in manner of articulation, and alveolar in place of articulation. When the coda in the word-medial position is connected to an initial sound in the same place of articulation, it revealed a high frequency of production. 2) The coda in word-medial position followed by an initial alveolar stop revealed a high error rate. Error patterns showed regressive assimilation predominantly. 3) The order of difficulty that Children had producing codas in the word-medial position was $/k^{\neg}/$, $/p^{\neg}/$, /m/, /n/, /ŋ/ and /l/. Those results suggest that in targeting coda in the word-medial position for evaluation, we should consider optional phonological process as well as the following initial sound. Further studies would be necessary which codas in the word-medial position will be used for therapeutic purpose.