• 한국음향학회지
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• 제24권5호
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• pp.238-247
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• 2005

본 논문에서는 디지털 보청기의 보상필터와 적응 궤환제거기의 부밴드 설계기법을 다룬다 감음 신경성 난청은 주파수 대역에서 비선형 특성을 보이는 가청 한계값 (hearing thresholds)을 가지며 시변하는 궤환경로에 의해 보상이 어렵다. 그러므로 디지틸 보청기는 주파수 대역별 비선형적 이득조정이 가능하며 반향을 빠르게 제거할 수 있는 보상기를 필요로 한다. 제안한 디지털 보청기에서 보상필터는 부밴드 구조에서 적응 시스템 식별기법을 이용하여 설계되며 적응 궤환제거기는 부밴드 인접투사 알고리즘을 이용하여 설계된다. 설계된 보상필터는 비선형 이득을 각 부밴드에서 조정할 수 있으므로 보다 정확한 이득보상이 가능하다. 그리고 부밴드 적응필터를 사용하는 궤환제거기는 빠른 수렴속도를 가진다. 설계된 보상필터는 주파수 대역별로 비선형적 이득보상이 가능하다. 그리고 적응 궤환제거기는 원치 않은 반향을 빠르게 제거할 수 있다. 제안한 보상필터의 성능을 컴퓨터 시뮬레이션을 통해 이전 방법의 성능과 비교하여 입증한다.

• 한국기계가공학회지
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• 제19권6호
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• pp.1-8
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• 2020

This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.

• 한국자동차공학회논문집
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• 제8권4호
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• pp.169-176
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• 2000

Longitudinal and lateral forces acting on tires are known to be closely related to the tract-ability braking characteristics handling stability and maneuverability of ground vehicles. In thie paper in order to develop tire force monitoring systems a monitoring model is proposed utilizing not only the vehicle dynamics but also the roll motion. Based on the monitoring model three monitoring systems are developed to estimate the tire force acting on each tire. Two monitoring systems are designed utilizing the conventional estimation techniques such as SMO(Sliding Mode Observer) and EKF(Extended Kalman Filter). An additional monitoring system is designed based on a new SKFMEC(Scaled Kalman Filter with Model Error Compensator) technique which is developed to improve the performance of EKF method. Tire force estimation performance of the three monitoring systems is compared in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with the combined-slip Magic Formula tire model. The built in our Lab. simulation results show that the SKFMEC method gives the best performance when the driving and road conditions are perturbed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1074-1078
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• 2005

In precision positioning applications, such as scanning tunneling microscopy and diamond turning machines [1], it is often required that actuators have nanometer resolution in displacement, high stiffness, and fast frequency response. These requirements are met by the use of piezoceramic actuators. A major limitation of piezoceramic actuators, however, is their lack of accuracy due to hysteresis nonlinearity and drift. The maximum error due to hysteresis can be as much as 10-15% of the path covered if the actuators are run in an open-loop fashion. Hence, the accurate control of piezoceramic actuators requires a control strategy that incorporates some form of compensation for the hysteresis. One approach is to develop an accurate model of the hysteresis and the use the inverse as a compensator. The Preisach model has frequently been employed as a nonlinear model for representing the hysteresis, because it encompasses the basic features of the hysteresis phenomena in a conceptually simple and mathematically elegant way. In this paper, a new numerical inversion scheme of the Preisach model is developed with an aim of compensating hysteresis in piezoceramic actuators. The inversion scheme is implemented using the first-order reversal functions and is presented in a recursive form. The inverted model is then incorporated in an open-loop control strategy that regulates the piezoceramic actuator and compensates for hysteretic effects. Experimental results demonstrate satisfactory regulation of the position of the piezoceramic actuator to the desired trajectories.

• 한국항공우주학회지
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• 제38권4호
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• pp.335-341
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• 2010

PD 제어기 기반으로 설계된 무인헬리콥터의 내부루프 제어기의 성능을 향상시키기 위 하여 한 개의 신경회로망이 적용되었다. 오차방정식의 응답특성 기반으로 설계된 PD 제어기는 운동모델의 비선형성에 의해 성능이 저하된다. 이러한 비선형성은 운동모델로부터 변형된 운동 역변환 모델(Modified Dynamic Inversion Model, MDIM)로 분리되었고 신경회로망의 출력에 의해 보상되었다. 신경회로망의 학습에는 제어기 안정성 보장을 위하여 리야프노프의 직접방법(Lyapunov's direct method)으로부터 유도된 온라인 가중치 적응법칙이 이용되었다. 신경회로망에 의한 PD제어기의 성능향상은 비선형성을 갖고 있는 무인헬리콥터의 수치시뮬레이션 결과로 보였다.

• International Journal of Control, Automation, and Systems
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• 제3권spc2호
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• pp.322-333
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• 2005

This paper proposes a combination of the Thyristor Controlled Series Capacitor (TCSC) and Static Var Compensator (SVC) installation for enhancing the damping performance of a power system. The developed scheme employs a damping controller which coordinates measurement signals with control signals to control the TCSC and SVC. The coordinated control method is based on the application of projective controls. Controller performance over a range of operating conditions is investigated through simulation studies on a single-machine infinite-bus power system. The linear analysis and nonlinear simulation results show that the proposed controller can significantly improve the damping performance of the power system and hence, increase its power transfer capabilities. In this paper, a current injection model of TCSC is developed and incorporated in the transmission system model. By using equivalent injected currents at terminal buses to simulate a TCSC no modification of the bus admittance matrix is required at each iteration.

• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• 제어로봇시스템학회논문지
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• 제2권3호
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• pp.174-180
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• 1996

The friction is one of the nonlinearities to be considered in the precise position control of a system which has electromechanical components. The friction has complicated nonlinear characteristics and depends on the velocity, the position and the time. The conventional fixed friction compensator and the controller based on linear control theory may cause the steady state position error or oscillation. The plant to be controlled in this study is a positioning system with a linear brushless DC motor(LBLDCM). The system behaves like a 4th-order model including the compliance and the friction. In this study, the plant model is simplified to a 2nd-order model to reduce the computation in on- line estimation. Also, to reduce the computation time, only the friction is estimated on-line while the mass and the viscous damping coefficient are fixed to the values obtained from off-line estimation. The validity of the proposed scheme is illustrated with the computer simulation and the experiment where the friction is compensated by using the estimation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.83-84
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• 2008

Voltage fluctuation, also known as flicker, is a power quality problem caused by nonlinear loads like electric arc furnace. Since it is interpreted as a variation of the supplied electrical energy, it causes the residential customers to feel much annoyed visually through the lamps. Due to the statistical nature of IEC (International Electrotechnical Commission) short-term flicker severity index, Pst, it is not feasible to pre-evaluate the flicker level using the transient power system simulators such as Sim Power System in Matlab/Simulink. So this paper presents not only how to design the Matlab/Simulink IEC flickermeter to yield the Pst value, which considering electric distribution environments of South Korea, but also how to mitigate the voltage flicker at the Point of Common Coupling (PCC). In order to achieve this, the flicker mitigation efficiencies of various compensating devices, such as Static Var Compensator (SVC), STATCOM will be applied and compared. The simulated result demonstrates which compensating equipment is the most efficient method to mitigate the flicker phenomenon.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.845-846
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• 2006

In this paper, we describe a capacitive position sensing and motion control scheme of a MEMS scanner used for laser display application. The laser displays can be made by scanning laser beams much the same way a CRT scans electron beams. So the accuracy of the scanner motion determines the quality of the displayed image. The MEMS scanner under consideration is composed of electrostatic comb electrodes with initial gap and requires large driving voltage. Due to the under-damping and nonlinear driving characteristics, the scanner motion is subject to be an unwanted oscillation. For the linear scanner motion, we devise a differential charge amplifier and phase compensator. The experimental results show that the implemented feedback control system provides sufficient electrical damping and improves the dynamic performance of the scanner.