• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1958-1961
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• 2004

Ring Laser Gyroscopes used as navigational sensors inherently experience a lock-in region, where very low rotational rates are not measurable. Most RLG manufacturers use a mechanical dither motor that applies a small oscillatory rotational motion larger than this region to resolve this problem. Any input acceleration that bends this dithering axis causes flexure error, which is a noncommutative error that can not be compensated by simply using integrated gyro sensor output. This paper introduces noncommutative error equations that define attitude errors caused by flexure errors. In this paper, flexure error is classified as sensor level error if the sensing axis coincides with the dithering axis and as system level error if the two axes do not coincide. The relationship between gyro output and the rotation vector is introduced and is used to define the coordinate transformation matrix and angular motion. Equations are derived for both sensor level and system level flexure error analysis. These equations show that RLG based INS attitude error caused by flexure is directly proportional to time, amount of input acceleration and the dynamic frequency of the vehicle.

• Journal of Power Electronics
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• 제5권2호
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• pp.151-159
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• 2005

The errors generated from current measurement paths are inevitable, and they can be divided into two categories: offset error and scaling error. The current data including these errors cause periodic speed ripples which are one and two times the stator electrical frequency respectively. Since these undesirable ripples bring about harmful influences to motor driving systems, a compensation algorithm must be introduced to the control algorithm of the motor drive. In this paper, a new compensation algorithm is proposed. The signal of the integrator output of the d-axis current regulator is chosen and processed to compensate for the current measurement errors. Usually the d-axis current command is zero or constant to acquire the maximum torque or unity power factor in the ac drive system, and the output of the d-axis current regulator is nearly zero or constant as well. If the stator currents include the offset and scaling errors, the respective motor speed produces a ripple related to one and two times the stator electrical frequency, and the signal of the integrator output of the d-axis current regulator also produces the ripple as the motor speed does. The compensation of the current measurement errors is easily implemented to smooth the signal of the integrator output of the d-axis current regulator by subtracting the DC offset value or rescaling the gain of the hall sensor. Therefore, the proposed algorithm has several features: the robustness in the variation of the mechanical parameters, the application of the steady and transient state, the ease of implementation, and less computation time. The MATLAB simulation and experimental results are shown in order to verify the validity of the proposed current compensating algorithm.

• Journal of Power Electronics
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• 제16권5호
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• pp.1950-1963
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• 2016

A novel open-circuit fault diagnosis method for 3-phase 4-wire 3-level active power filters based on voltage error correlation is proposed in this paper. This method is based on observing the output pole voltage error of the active power filter through two kinds of algorithms. One algorithm is a voltage error analytical algorithm, which derives four output voltage error analytic expressions through the pulse state, current value and dc bus voltage, respectively, assuming that all of the IGBTs of a certain phase come to an OC fault. The other algorithm is a current circuit equation algorithm, which calculates the real-time output voltage error through basic circuit theory. A correlation is introduced to measure the similarity of the output voltage errors between the two algorithms, and OC faults are located by the maximum of the correlations. A FPGA has been chosen to implement the proposed method due to its fast prototyping. Simulation and experimental results are presented to show the performance of the proposed OC fault diagnosis method.

• 전자공학회논문지C
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• 제35C권8호
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• pp.68-74
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• 1998

The neural network predictiv econtroller (NNPC) is proposed for the attempt to mimic the function of brain that forecasts the future. It consists of two loops, one is for the prediction of output (NNP:neural network predictor) and the other one is for control the plant(NNC: neural network controller). The output of NNC makes the control input of plant, which is followed by the variation of both plant error and predictin error. The NNP forecasts the future output based upon the current control input and the estimated control output. The input and the output data of a system and a new method using evolution strategy are used to train the NNP. A two-step NNPC is applied to control the temeprature in boiler systems. It was compared with PI controller and auto-tuning PID controller. The computer simulaton and experimental results show that the proposed method has better performances than the other method.

• Structural Engineering and Mechanics
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• 제12권6호
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• pp.633-656
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• 2001

In this paper, modal control with direct output feedback is formulated in a systematic manner for easy implementation. Its application to the seismic protection of structural systems is verified by a shaking table test, which involves a full-scale building model and an active bracing system as the control device. Two modal control cases, namely, one full-state feedback and one direct output feedback control were tested and compared. The experimental result shows that in mitigating the seismic response of building structures, modal control with direct output feedback can be as effective and efficient as that with full-state feedback control. For practical concerns, the control performance of the proposed method in the presence of sensor noise and stiffness modeling error was also investigated. The numerical result shows that although the control force may be increased, the maximum floor displacements of the controlled structure are very insensitive to sensor noise and modeling error.

• 대한방사선기술학회지:방사선기술과학
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• 제41권6호
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• pp.603-610
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• 2018

This study examined the following: accuracy of the exposure conditions in the inverter device and three-phase device; output waveform over the exposure conditions; and average and standard deviation of the output waveform. After assessing whether the dose corresponding to the theoretical dose was presented, the following conclusions were obtained: 1. The accuracy of the tube voltage(kVp) and tube current(mA) exposure time(sec) was within the tolerable level prescribed in Korea's Safety Management Standards. In the error, Inverter device was large the tube voltage and exposure time, the three-phase device was large the tube current. 2. In terms of the output waveform of the exposure conditions and the average and standard deviation of the output waveform, the higher tube voltage and larger tube current resulted in greater standard deviation in pulsation. Moreover, the standard deviation of pulsation was shown to be greater in the inverter device than the three-phase device; there was also greater standard deviation in the inverter device considering the exposure time. 3. Regarding the exposure conditions over the output dose, all linearity showed the coefficient of variation which had an allowable limit of error within 0.05. Although the output dose ratio for the inverter device was 1.00~1.10 times no difference that of the three-phase device, there was almost no difference in dose ratio between the tube currents.

• 대한기계학회논문집
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• 제19권9호
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• pp.2194-2205
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• 1995

In order to reduce the systematic error of a build-up system, we have proposed a new test procedure in which all force transducers in a build-up system are rotated by 90.deg. with a base platen fixed on a force standard machine. The setting positions of force transducers on the output of a build-up system were investigated using an orthogonal array. The effects of the parallelism of a build-up system and of the bending moment sensitivity of a force transducer were considered. The experimental results show that the setting position of the base platen hardly affects the output of the build-up system, but the setting positions of force transducers affects it strongly. It reveals that the new test procedure reduces effectively the systematic error of a build-up system.

• 대한기계학회논문집A
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• 제20권2호
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• pp.399-407
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• 1996

A fuzzy learning algorithm to get the optimal fuzzy rules is presented in this paper. The algorithm introduces a reference model to generate a desired output and a performance index funtion instead of the performance index table. The performance index funtion is a cost function based on the error and error-rate between the reference and plant output. The cost function is minimized by a gradient method and the control input is also updated. In this case, the control rules which generate the desired response can be obtained by changing the portion of the error-rate in the cost funtion. In SISO(Single-Input Single- Output)plant, only by the learning delay, it is possible to experss the plant model and to get the desired control rules. In the long run, this algorithm gives us the good control rules with a minimal amount of prior informaiton about the environment.

• 시스템엔지니어링학술지
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• 제12권2호
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• pp.115-125
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• 2016

An improved RRS (Reactor Regulating System) logic is implemented in this work using systems engineering approach along with GA (Genetic Algorithm) deemed as providing an optimal solution to a given system. The current system works desirably and has been contributed to the safe and stable NPP operation. However, during the ascent and decent section of the reactor power, the RRS output reveals a relatively high steady state error and the output also carries a considerable level of overshoot. In an attempt to consolidate conservatism and minimize the error, this research proposes applying genetic algorithm to RRS and suggests reconfiguring the system. Prior to the use of GA, reverse-engineering is implemented to build a Simulink-based RRS model and re-engineering is followed to apply the GA and to produce a newly-configured RRS generating an output that has a reduced steady state error and diminished overshoot level.

• 전기학회논문지P
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• 제54권1호
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• pp.8-14
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• 2005

This paper is proposed hybrid artificial intelligent(HAI) controller for speed control of surface permanent magnet synchronous motor(SPMSM) drive. The design of this algorithm based on HAI controller that is implemented using fuzzy control and neural network. This controller uses fuzzy rule as training patterns of a neural network. Also, this controller uses the back-propagation method to adjust the weights between the neurons of neural network in order to minimize the error between the command output and actual output. A model reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based on the error and change of error measured between the motor speed and output of a reference model. The control performance of the HAI controller is evaluated by analysis for various operating conditions. The results of analysis prove that the proposed control system has strong high performance and robustness to parameter variation, and steady-state accuracy and transient response.