• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.756-762
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• 2009

As nonlinear friction, stick-slip friction in hydraulic actuators are a problem for accuracy and repeatability. Therefore friction compensation has been approached through various control algorithms. A Adaptive discrete time sliding mode tracking controller has been applied in order to compensate the nonlinear friction characteristics in a hydraulic Actuator. Based on the diophantine equation, a new discrete time sliding function is defined and utilized for the control law which includes a friction and modeling error. Robustness is increased by using both a projection algorithm and a sliding function-based nonlinear feedforward. From the results of simulation and experiment good tracking performance is achieved.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.49 no.12
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• pp.595-601
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• 2000

This paper describes the improvement method of distance relaying algorithm for the underground transmission cables. Distance relaying algorithms have been mainly developing to protect the overhead transmission lines than the underground cables. If the cable systems are directly protected using distance relaying algorithm developed for overhead line without any improvement, there will be really occurred many misoperation in cable systems, because the cable systems consist of the conductor, the sheath, several grounding method, cable cover protection units(CCPUs), and grounding wire. Accordingly, the complicated phenomena are occurred, if there is a fault in cable systems. Therefore, to develope a correct distance relaying algorithm, such cable characteristics should be taken into account. This paper presents the process to improve distance relaying algorithm which is now used. REal cable system was selected to establish modeling in EMTP and ATP Draw. It was discovered through the detailed simulation during the fault that the large error existed between impedance measured at the relay point and real impedance is due to the resistance of grounding wire in each grounding method. And also compensation factor obtained by the simulation is proposed in this paper. It is proved that the factor proposed can fairly improve the accuracy of impedance at the relay point. It is evaluated that the protective ability will be really much improved, if the algorithm proposed in this paper is applied for cable systems of utility.

• Journal of Korea Water Resources Association
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• v.53 no.7
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• pp.545-555
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• 2020

A feasibility modeling for potential hydroelectric dam site selection was suggested using 1 sec ASTGTM (ASTER Global Digital Elevation Model) and Terra/Aqua MODIS (Moderate Resolution Imaging Spectroradiometer) derived land use (MCD12Q1) data. The modeling includes DEM pre-processing of peak, sink, and flat, river network generation, watershed delineation and segmentation, terrain analysis of stream cross section and reservoir storage, and estimation of submerged area for compensation. The modeling algorithms were developed using Python and as an open source GIS. When a user-defined stream point is selected, the model evaluates potential hydroelectric head, reservoir surface area and storage capacity curve, watershed time of concentration from DEM, and compensation area from land use data. The model was tested for 4 locations of already constructed Buhang, BohyunMountain, Sungdeok, and Yeongju dams. The modeling results obtained maximum possible heads of 37.0, 67.0, 73.0, 42.0 m, surface areas of 1.81, 2.4, 2.8, 8.8 ㎢, storages of 35.9, 68.0, 91.3, 168.3×10⁶ ㎥ respectively. BohyunMountain and Sungdeok show validity but in case of Buhang and Yeongju dams have maximum head errors. These errors came from the stream generation error due to ASTGTM. So, wrong dam watershed boundary limit the head. This study showed a possibility to estimate potential hydroelectric dam sites before field investigation especially for overseas project.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.11
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• pp.5194-5201
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• 2011

In this paper, an adaptive nonlinear friction compensation scheme for second-order nonlinear mechanical system with a partially known nonlinear dynamic friction is proposed to achieve asymptotic position and velocity tracking in the absence of disturbances and modeling errors. It is also shown that even with disturbances and modeling errors, in contrast to existing other adaptive control schemes, by proper adjustment of design parameters, reduced error bounds on position and velocity tracking can be achieved.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.8
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• pp.457-466
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• 2002

The speed and position control of SRM(Switched Reluctance Motor) needs the encoder or resolver to obtain the rotor position information. These position sensors can be affected by the EMI, dusty, and high temperature surroundings. Therefore the speed and position sensorless control has been studied widely In this paper, the binary observer of the SRM which has two feedback compensation loops to control the speed of SRM is proposed. One loop reduces the estimation error like the sliding mode observer, and the other removes the estimation error chattering occurred in the sliding mode observer. This observer is constructed on the basis of variable structure control theory and has the inertial term to exclude the chattering. This method has a good estimation performance in spite of nonlinear modeling of SRM. The advantages of the proposed method are verified experimentally.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.1
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• pp.50-58
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• 2009

For precise tracking control of a servo system with nonlinear friction, a robust friction compensation scheme is presented in this paper. The nonlinear friction is difficult to identify the friction parameters exactly through experiments. Friction parameters can be also varied according to contact conditions such as the variation of temperature and lubrication. Thus, in order to overcome these problems and obtain the desired position tracking performance, a robust adaptive back-stepping control scheme with a dual friction observer is developed. In addition, to estimate lumped friction uncertainty due to modeling errors, a DEKF recurrent neural network and adaptive reconstructed error estimator are also developed. The feasibility of the proposed control scheme is verified through the experiment fur a ball-screw system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.555-558
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• 1995

In designing the anti-sway controller for crane system in the industrial field, one of the basic problem is to keep the stability of system, even if the mathematical model of the plant is not exact and disturbance exists. Form this point of view, a two-degree-of-freedom(2DOF) servo controller effact to the system in which the integral compensation is effctive only when a modeling error and/or a disturbance input exist. In this paper, the change of load weight and variation of wire rope length considered as the structured uncertainty, and design the 2DOF servo contorller using independently the informations of reference signal and control output with both feedforward and feedback. The effectivenss is proved through the results for the anti-sway system in the system with the position control of trolley.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.352-355
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• 1986

In this paper, some candidates suggested for the improvement of the robustness in adaptive control systems are shortly surveyed. Using dead zone concept of error in adaptation process, gain retardation methods such as .sigma.-modification and parameter restriction method are those considered. Feedforward compensation and normalized adaptation technique are also considered. New modeling technique suggested by Donati et al is used for the indirect control of plants containing unmodeled dynamics. The frequency band of input signal, which is used as a test signal and control signal simultaneously, is directly related to the control of plants containing high frequency parastics. Computer simulation results of the some selected algorithms are shown.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.1946-1948
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• 2001

본 논문에서는 저급 관성 센서를 이용한 개인 항법 장치의 모델 및 오차 보정 기법을 제시하고 성능 평가를 위하여 시뮬레이션을 수행하였다. 걸음 검출에 의한 보행 항법에서 중요한 변수인 보폭은 신경 회로망(Neural Network)을 이용하여 결정하였고, 자이로 바이어스 등에 의하여 누적되는 오차는 GPS와의 결합에 의하여 추정, 보상하였다. 이때 GPS와의 결합은 칼만필터를 이용하였으며 칼말필터를 구성하는데 필요한 오차 모델 및 결합 방법을 제시하였다. WNS/GPS 결합에 의하여 오차의 발산을 막을 수 있으며 GPS신호가 중간에 단절되는 경우에도 오차가 발산하지 않고 좋은 결과를 유지함을 보인다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.2
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• pp.134-141
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• 2013

This paper explores a real-time system implementation to couple tightly StrapDown Inertial Navigation System(SDINS) and Global Positioning System(GPS) mounted on the aircraft. When implementing the SDINS/GPS coupled system in real-time processor, we have to deliberate SDINS's unique characteristics based on the ring laser gyro, and besides, lever-arm, measurements, and error compensation method. The novel modeling method is applied to system the misalignment error term of gyro to estimate the cumulative heading attitude errors while the aircraft banking to turn repeatedly. Captive Flight Test results show that the proposed modeling strategy has good performance.