• Proceedings of the KIEE Conference
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• 2000.07b
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• pp.1003-1005
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• 2000

The switched reluctance drive provides a good adjustable steed characteristics like a D.C series motor. However, because of the torque production mechanism, it also has some disadvantage such as higher torque ripple and fluctuation in speed. To reduce torque ripple and to control speed precisely at low condition current level technique is adopted. The SRM drive with current control of invariable frequency and phase swichting control has good speed regulation characteristics. Digital control system with an 80c196kc micro-controller is used to realize this drive system. Test results show that the control system has the goof ability to achive precise speed control at low speed.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.8
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• pp.73-82
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• 2004

In this paper, implementation of obstacle avoidance of a nonholonomic mobile robot in unstructured environment is introduced. To avoid obstacles, first, a reference collision-free path for the MR is generated off-line using HJB-based optimal path planning method. A controller is designed using integrator backstepping method for tracking the generated reference path. To implement the designed controller, a control system are needed and composed of camera system and PIC-based controller. The workspace is observed by a ceiling-mounted USB camera as part of an un-calibrated camera system. Thus the positional information of the MR is updated frequently and the MR can get the useful inputs for its tracking controller. The whole control system is realized by integrating a computer with PIC-based microprocessor using wireless communication: the image processing control module and path planning module serve as high level computer control while the device control serves as low level PIC microprocessor control. The simulation and experimental results show the effectiveness of the designed control system.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.4
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• pp.373-380
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• 1997

In order to implement the real-time operating systems for robot controller, this paper proposes a systematic method for implementing the real-time kernel under the DOS environment. So far, we designed the robot control software and its own operating system simultaneously. Though robot operating systems have simple structure, it allows the developer to have a surplus time and effort to implement complete robot systems. In addition to this, in most cases of this type, operating systems does not support multitasking function, thus, low level hardware interrupts are used for real-time execution. Subsequently, some kinds of real-time tasks are hard to implement under this environment. Nowadays, the operating systems for robot controller requires multitasking functions, intertask communication and task synchronization mechanism, and rigorous real-time responsiveness. Thus, we propose an effective and low costs real-time systems for robot controller satisfying the various real-time characteristics. The proposed real-time systems are verified through real implementation.

• Journal of the Korean Institute of Navigation
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• v.18 no.2
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• pp.69-81
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• 1994

Studies on the ship's automatic navigation & berthing control have been continued by way of solving the ship's mathematical model, but the results of such studies have not reached to our satisfactory level due to its non-linear characteristics at low speed. In this paper, the authors propose a new berthing control system which can evaluate as closely as cap-tain's decision-making by using the FNN(Fuzzy Neural Network) controller which can simulate captain's knowledge. This berthing controller consists of the navigation subsystem FNN controller and the berthing subsystem FNN controller. The learning data are drawn from Ship Handling Simulator (NavSim NMS-90 MK Ⅲ) and represent the ship motion characteristics internally. According to learning procedure, both FNN controllers can tune membership functions and identify fuzzy control rules automatically. The verified results show the FNN controllers effective to incorporate captain's knowledge and experience of berthing.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.417-420
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• 2003

In this paper, we have designed the ground faults detection and disconnection algorithm at normal rendition of AC 120V to 240V rating voltage. Ground faults in electrical network have the characteristics of low current, 60Hz frequency to 2kHz frequency. The load rendition are no load and 20A load. The controller have the trip level are 6mA with ground faults. Conventional controller does not have the miswiring condition. The Controller algorithm using pic16c71 microprotessor.

• Journal of Korean Port Research
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• v.7 no.2
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• pp.61-68
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• 1993

Studies on the ship's automatic navigation & berthing control have been continued by way of solving the ship's mathematical model, but the results of such studies have not reached to our satisfactory level due to its non-linear characteristics at low speed. In this paper, the authors propose a new control system which can evaluate as closely as captain's decision-making by using the FNN(Fuzzy Neural Network) controller which can simulate captain's knowledge. This controller contains the concept of safety according to channel width. The learning data are drawn from ship Handling simulator(NavSim NMS-90 MK III) and represent the ship motion characteristics internally. According to learning procedure, the FNN controller can tune membership functions and identify fuzzy control rules automatically. The verified results show that the FNN controller is effective to incorporate captain's knowledge and experience of manoeuvrability in channel.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.5
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• pp.892-897
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• 2007

This paper presents the output filter design and the output characteristic analysis by cut-off frequency set up of the LCR filter on NPC multi-level inverter with trap-filter. The single-phase NPC three-level inverter operates at low switching frequency. The proposed LC trap filter is comprised of a conventional LCR output filter, by using LC trap filter the need for high damping resistor and low LC cut-off frequency is eliminated. Also. low damping resistor is increased the output filter system. The multilevel inverter system used NPC type inverter in proper system for high power application and controller is used DSP(TMS320C31). The effectiveness of proposed system confirmed the validity through SPICE simulation and experimental results.

• Nuclear Engineering and Technology
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• v.27 no.3
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• pp.317-326
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• 1995

The oater level control system of the steam generator in a pressurized water reactor and its control Problems are analysed. In this work a stable control strategy Particularly during low Power operation based on the fuzzy control method is studied. The control strategy employs substitutional information using the bypass valve opening instead of incorrectly measured signal at the low How rate as the fuzzy variable of the flow rate during low power operation, and includes the flexible scale adjusting method for fast response at a large transient. A self-tuning algorithm based on the control performance and the descent method is also suggested for tuning the membership function scale. It gives a practical way to tune the controller under real operation. Simulation was carried out on the Compact Nuclear Simulator set up at Korea Atomic Energy Research Institute and its result showed the good performance of the controller and effectiveness of its tuning.

• Advances in aircraft and spacecraft science
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• v.5 no.2
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• pp.225-237
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• 2018

The difficulties of satellite vibration testing are due to the commonly expressed qualification requirements being incompatible with the limited performance of the entire controlled system (satellite + interface + shaker + controller). Two features cause the problem: firstly, the main satellite modes (i.e., the first structural mode and the high and low tank modes) are very weakly damped; secondly, the controller is just too basic to achieve the expected performance in such cases. The combination of these two issues results in oscillations around the notching levels and high amplitude beating immediately after the mode. The beating overshoots are a major risk source because they can result in the test being aborted if the qualification upper limit is exceeded. Although the abort is, in itself, a safety measure protecting the tested satellite, it increases the risk of structural fatigue, firstly because the abort threshold has been already reached, and secondly, because the test must restart at the same close-resonance frequency and remain there until the qualification level is reached and the sweep frequency can continue. The beat minimum relates only to small successive frequency ranges in which the qualification level is not reached. Although they are less problematic because they do not cause an inadvertent test shutdown, such situations inevitably result in waiver requests from the client. A controlled-system analysis indicates an operating principle that cannot provide sufficient stability: the drive calculation (which controls the process) simply multiplies the frequency reference (usually called cola) and a function of the following setpoint, the ratio between the amplitude already reached and the previous setpoint, and the compression factor. This function value changes at each cola interval, but it never takes into account the sensor signal phase. Because of these limitations, we firstly examined whether it was possible to empirically determine, using a series of tests with a very simple dummy, a controller setting process that significantly improves the results. As the attempt failed, we have performed simulations seeking an optimum adjustment by finding the Least Mean Square of the difference between the reference and response signal. The simulations showed a significant improvement during the notch beat and a small reduction in the beat amplitude. However, the small improvement in this process was not useful because it highlighted the need to change the reference at each cola interval, sometimes with instructions almost twice the qualification level. Another uncertainty regarding the consequences of such an approach involves the impact of differences between the estimated model (used in the simulation) and the actual system. As limitations in the current controller were identified in different approaches, we considered the feasibility of a new controller that takes into account an estimated single-input multi-output (SIMO) model. Its parameters were estimated from a very low-level throughput. Against this backdrop, we analyzed the feasibility of an LQG control in cancelling beating, and this article highlights the relevance of such an approach.

• Nuclear Engineering and Technology
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• v.26 no.3
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• pp.420-424
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• 1994

This paper presents an improved water level control scheme for Pressurized Water Reactor(PWR) Steam Generator(S/G) at the low power operation and transient states. To reduce fluctuations of the water level by the swell and shrink phenomena, the scheme adds feedforward terms considering S/G pressure and the feedwater temperature into the conventional proportional-integral feedback controller. The simulation results using the Compact Nuclear Simulator show that smaller level errors and much faster settling time than those of the conventional scheme can be obtained. The proposed algorithm is easily implementable and has a potential for the real applications.