• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.269-274
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• 1990

Usually, robot manipulators in production lines are operated with reperting work trajectories. This paper presents the repeated adaptive learning algorithm for robot manipulates for the case of a trajectory. This algorithm uses the nonlinear dynamic model including the repeated friction compensating term, The advantage of the scheme is that It allows friction compensation which may be otherwise difficult for differently constructed models. A secondary advantage of the sheme is that it can also adapt to torque calculation in order to reduce the computational load of the control computer. To show the efficiency of the proposed controller, a computer simulation is performed for the planar robot manipulator with a 2 degree of freedom.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.358-363
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• 1987

It is widely noted that pressure feedback systems have been devised to damp the fluid resonance effectively in precision speed control-for large inertia system. A compensation technique preserving the natural output disturbance discrimination characteristics at lower frequencies is proposed The load pressure across positive displacement acceleration. The technique involves feeding back load differential pressure, sensed by pressure transducers, though a simple analog compensatory circuit (high pass filter). The effectiveness of the damping is determined by the filter time donstant and loop gain. Nonlinear total hydraulic simulation results verify the possibility of linear model predictions of extending the closed loop bandwidth beyond the uncompensated frequency.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.13-16
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• 2002

In this paper, we newly propose a predictor model which is a method to overcome the time-varying delay in a system and we verify that the predictor model is well suited for the time-delayed system and improves the stability a lot through the experiments. The proposed predict compensator compensates uncertain time delays and minimizes variance of system performance. Therefore it is suitable for the control of uncertain systems and nonlinear systems that are difficult to be modeled. The simulation conditions are set for the cases of various input time delays and simulations are applied for the 2-axis robot arms which are drawing a circle on the plane. Conclusively, the proposed predict compensator represents stable properties regardless of the time delay. As a future research, we suggest to develope a robust control algorithm to compensate the random time delay which occurs in the tole-operated systems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.231-234
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• 1997

This paper presents improved direct method for calculating the closest saddle node bifurcation (CSNB) point, which is also applicable to the selection of appropriate load shedding, reactive power compensation point detection. The proposed method reduced dimension of nonlinear equation compared with that of Dobson's direct method. The improved direct method, utilizing Newton Iterative method converges very quickly. But it diverges if the initial guess is not very close to CSNB. So the direct method is performed with the initial values obtained by carrying out the iterative method twice, which is considered most efficient at this time. Since sparsity techniques can be employed, this method is a good choice to a large scale system on-line application. Proposed method has been tested for 5-bus, New England 30-bus system.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2002년도 전력전자학술대회 논문집
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• pp.612-617
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• 2002

To provide beginner with the standard current information on the $\alhpa-\beta$ reference frame of nonlinear load, this paper has focused on the simulation works using MATLAB/SIMULINK in case of current source thyristor controlled rectifier The various $\alhpa-\beta$ components of current/power components are induced by the p-q theory, the results are represented waveforms and trajectories on the $\alhpa-\beta$ reference frame. The compensation effect according to each of the compensating reference components are described.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 Proceedings ICPE 98 1998 International Conference on Power Electronics
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• pp.780-784
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• 1998

A novel active input unbalance voltage compensator with harmonic current compensating capability is proposed and the operating principle of the proposed system is presented in the 3-phase power system. The proposed system performs both the voltage regulation of the load and the compensation of the harmonic currents generated due to nonlinear load such as diode rectifier. The system to compensate unbalanced voltage and hramonic currents is composed of a 3-phase voltage source inverter, LC filter, series transformer and passive devices at the load side of the line. The compensating voltage to regulate the load voltage and to remove the harmonic current components is transmitted to the line by the series transformer. The validity of the line by the series transformer. The validity of the proposed system is proved by the results of computer simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.225-227
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• 2002

In this paper, novel concept of a photovoltaic(PV) power generation system adding the function of active filter(AF) is proposed. Even PV power generation system can be treated to a harmonics source for the power distribution system, it is necessary that the function of AF system in grid connected PV power generation system. Active Filters intended for harmonic solutions are expending their functions from harmonic compensation of nonlinear loads into harmonic isolation between utilities and consumer, and harmonic damping throughout power distribution system. So, the PV system combined the function of AF system can be usefully applied in power distribution system. Here, the control strategy of PV-AF system is introduced.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.67-67
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• 2000

In this paper, a hybrid type fuzzy controller is proposed to maintain molten steel level stable and reliable manner in high speed continuous casting regardless of various disturbances such as casting speed change, tundish weight variation, 치ogging/undoning of SEN(Submerged Entry Nozzle), periodic bulgings, etc. To accomplish this purpose, hardware filter and software filer are carefully designed to eliminate high frequency noise and to smooth input signals from harsh environments. In order to minimize the molten steel level variations from various disturbances the controller uses hybrid type control term: fuzzy logic term, proportional term, differential term and nonlinear feedback compensation tenn. The proposed controller is applied tn commercial mini-mill plant and shows considerable improvement in minimizing the molten steel variation.

• 한국정밀공학회지
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• 제16권6호
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• pp.166-175
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• 1999

This paper describes a design and performance evaluation of robust controller which overrides unstable motion and pulls out quickly after water entry of underwater vehicle dropped from aircraft or surface ship. We use 6-DOF equation for model of motions and assume parameter uncertainty to reflect the difference of real motion from modelled motion equation. we represent a nonlinear system with uncertainty as Takagi and Sugeno's(T-S) fuzzy models and design controller stabilizing them. The fuzzy controller utilizes the concept of so-called parallel distributed compensation (PDC). Finally, we confirm stability and performance of the controller through computer simulation and hardware in the loop simulation (HILS).

• International Journal of Aeronautical and Space Sciences
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• 제9권1호
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• pp.129-136
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• 2008

An roll-pitch-yaw integrated autopilot for missiles is designed for compensation of dynamics coupling. The proposed autopilot is based on the classical control technique. The gains of the proposed autopilot are optimized by using co-evolutionary augmented Lagrangian method(CEALM). Several cost functions are compared in order to find feasible control gains. For a case that a bank angle of missiles is unknown, multiple models are used in the autopilot optimization. In nonlinear simulations as well as linear simulations, the proposed autopilot provided good performances.