• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2240-2245
• /
• 2003

In this paper, the controller design by coefficient diagram method (CDM) for controlling the trolley position, load-swing angle and hoisting rope length of the overhead crane system simultaneously is proposed. The overhead crane system is a MIMO system consisting of two inputs and three outputs. Its mathematical model is nonlinear with coupling characteristics. This nonlinear model can be approximated to obtain a linear model where the first input mainly affects the trolley position and the load-swing angle while the second input mainly affects the hoisting rope length. In order to utilize the CDM concept for assigning the controllers, namely PID, PD and PI controllers separately, the model is approximated to be three transfer functions in accordance with trolley position, the load-swing angle and the hoisting rope length controls respectively. The satisfied performances of the overhead crane system controlled by the these controllers and fast rejection of the disturbance effect occurred at the trolley position are shown by simulation and experimental results.

• 제어로봇시스템학회논문지
• /
• 제21권7호
• /
• pp.615-620
• /
• 2015

DOB (Disturbance Observer) is an useful control method for estimating the disturbance applied to dynamic systems. Disturbance observer can be used to implement a robust control system to generate a control input for rejecting the disturbance, and it can be also used to estimate the disturbance to obtain information. The system that uses disturbance estimation is investigated for high performance control such as automatic door systems, walking robot and electric power steering system in vehicles. In this paper, a novel disturbance observer which is called disturbance and current observer for estimating load torque in the motor system is proposed. The difference between the DOB for disturbance rejection and DCOB is mathematically verified. Current and angular velocity are required for estimating the load torque of the motor in DOB. However, the DCOB can estimate load torque and current without current sensor. DCOB is designed based on modeling of the motor system. Appropriate Q-filter is selected and the applicability of DCOB is verified by simulation. The estimated disturbance and current of the electric motor can be verified without current sensor, as experiments of the actual motor system.

• Journal of Power Electronics
• /
• 제7권2호
• /
• pp.159-173
• /
• 2007

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

• Ocean Systems Engineering
• /
• 제10권4호
• /
• pp.373-397
• /
• 2020

Heave compensation is a vital part of various marine and offshore operations. It is used in various applications, including the transfer of cargo between two vessels in the open ocean, installation of topsides of an offshore structure, offshore drilling and for surveillance, reconnaissance and monitoring. These applications typically involve a load suspended from a hydraulically powered winch that is connected to a vessel that is undergoing dynamic motion in the ocean environment. The goal in these applications is to design a winch controller to keep the load at a regulated height by rejecting the net heave motion of the winch arising from ship motions at sea. In this study, we analyze and compare the performance of various control algorithms in stabilizing a suspended load while the vessel is subjected to changing sea conditions. The KCS container ship is chosen as the vessel undergoing dynamic motion in the ocean. The negative of the net heave motion at the winch is provided as a reference signal to track. Various control strategies like Proportional-Derivative (PD) Control, Model Predictive Control (MPC), Linear Quadratic Integral Control (LQI), and Sliding Mode Control (SMC) are implemented and tuned for effective heave compensation. The performance of the controllers is compared with respect to heave compensation, disturbance rejection and noise attenuation.

• 한국게임학회 논문지
• /
• 제12권3호
• /
• pp.49-58
• /
• 2012

한 업체가 신규 게임 또는 사용자가 많지 않은 게임들을 서비스 하는 경우, 게임별 별도의 서버를 두는 것 보다 서버 여러 대에서 함께 서비스하는 경우가 편리할 것이다. 본 논문에서는 동일 성능의 서버들로 구성된 클러스터 상에서 게임 여러 개를 효과적으로 서버에 배치하는 방법을 제안한다. 우리의 방법에 의하면, 서버들간 부하 불균등을 줄여 사용자 기각률을 최소화할 수 있는 게임 배치를 구할 수 있다. 본 논문에서 제안한 방법은 게임 서비스 시 서버 수, 서버당 게임 수 등과 같은 서버 운영 사항들을 결정하는데 도움을 줄 것으로 예상한다. 우리의 조사에 따르면, 서버 클러스터에서의 게임 배치에 관한 기존 연구는 거의 발표되지 않았다.

• 한국원자력학회:학술대회논문집
• /
• 한국원자력학회 1997년도 춘계학술발표회논문집(1)
• /
• pp.587-591
• /
• 1997

The DGs (Diesel Generators) in NPP (Nuclear Power Plant) has been used for the emergency electric power source to shut down the nuclear reactor safely in case of station blackout. The RCM (Reliability Centered Maintenance) has been applied to DGs for increasing the safety of NPP. The structured defects of DG were not remedied by the improvement of maintenance method. As the first stage of RCM, to find the structured defects, its failure modes were searched and analyzed through the ten year maintenance information. The structured defects such as the air compressor, the lubricating oil pressure, and the insufficient load were the root causes of main failures. The air reservoir reinstallation, the lubricating oil tube modification, the load bank installation, and the qualitative instrumentation were the solutions for the hardware oriented RCM of DGs. There remains the software oriented RCM such as the rejection of useless maintenance, the preventive maintenance, the database of maintenance information, and the predictive maintenance.

• 한국통신학회논문지
• /
• 제21권12호
• /
• pp.3215-3226
• /
• 1996

In this paper a K-band harmonic oscillator competitive to ordinary Push-Push type oscillators is introduced. This oscillator is composed of two-X-band dielectric resonance circuits. To favor its harmonic generation, the load effect and the bias effect are studied to allow the maximum harmonic distortion. As results, the dielectric resonated load and the class A bias are used for the 2nd harmonic generation. analytical study for modelling of voltage controlled dielectric resonator is carried out with theoretical background. The performance of the circuit is evaluated by simulation using harmonic balanced method. The novel structure has ont only a voltage tuning circuit but also an output port at fundamental frequency as the function of prescaler for phase lockede loop application on the just single oscillation structure. In experimentation, the output freqneyc of the 2nd harmonic signal is 20.5GHz and the maximum power level of output is +5.5dBm without additional post amplifiers. the harmonic oscillator exhibits -30dBc of high fundamental frequency rejection without added extra filters. The phase noise of -90dBc/Hz at 100kHz off-carrier has been achieved under free running condition, that satisfies phase noise requirement of IESS 308. The proposed oscillator may be utilized as the clean and stable fixed local oscillator in Transmit Block Upconvertor(TBU) or Low oise Block downconvertor(LNB) for K/Ka-band digital communications and satellite broadcastings.

• Journal of Power Electronics
• /
• 제4권4호
• /
• pp.217-227
• /
• 2004

A robust controller that combines the merits of the feed-back, feed-forward and model-following control for induction motor drives utilizing field orientation control is designed in this paper. The proposed controller is a two-degrees-of­freedom (2DOF) integral plus proportional & rate feedback (I-PD) speed controller combined with a model-following (2DOF I-PD MFC) speed controller. A systematic mathematical procedure is derived to find the parameters of the 2DOF I-PD MFC speed controller according to certain specifications for the drive system. Initially, we start with the I-PD feed­back controller design, then we add the feed-forward controller. These two controllers combine to form the 2DOF I-PD speed controller. To realize high dynamic performance for disturbance rejection and set point tracking characterisitics, a MFC controller is designed and added to the 2DOF I-PD controller. This combination is called a 2DOF I-PD MFC speed controller. We then study the effect of the 2DOF I-PD MFC speed controller on the performance of the drive system under different operating conditions. A computer simulation is also run to demonstrate the effectiveness of the proposed controller. The results verify that the proposed 2DOF I-PD MFC controller is more accurate and more reliable in the presence of load disturbance and motor parameter variations than a 2DOF I-PD controller without a MFC. Also, the proposed controller grants rapid and accurate responses to the reference model, regardless of whether a load disturbance is imposed or the induction machine parameters vary.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.65-68
• /
• 1997

溜is paper is concerned with the controllers for time-delay systems which has an integrator. It is known that high performance can be obtained for the systems response and load disturbance rejection by adjusting the only three parameters of the modified Smith predictor. In the case of the time-delay systems with repeated poles, good performance cannot be obtained with the modified Smith predictor. But superior performance can be obtained through the intentional delay parameters mismatch. The calculating method for the approximation delay parameter values is proposed. Simulation results show the improved response characteristics with the proposed delay parameter values.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2291-2294
• /
• 2003

In this paper, analysis and control design of ac-dc converter, normally nonlinear time-varying system, using sliding mode controller to achieve fast output voltage response, disturbance rejection and robust system in the presence of load variation are demonstrated. The objective of this method is to develop methodology for output voltage to be constant and input current sinusoidal that results in nearly unity power factor, respectively. In addition the converter can be also bidirectional power flow. Simulation results using Matlab/Simulink show the effectiveness of sliding mode control system compared with linear feedback controller to guarantee enhanced PF>0.98, THD<5%, and ripple output voltage is less than 1% at the maximum output power.