• 전자공학회논문지B
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• 제30B권5호
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• pp.52-61
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• 1993

This paper deals with adaptive control method of a robot manipulator with one-flexible link. ARMA model is used as a prediction and estimation model, and adaptive control scheme consists of parameter estimation part and adaptive controller. Parameter estimation part estimates ARMA model's coefficients by using recursive least-squares(RLS) algorithm and generates the predicted output. Variable forgetting factor (VFF) is introduced to achieve an efficient estimation, and adaptive controller consists of reference model, error dynamics model and minimum prediction error controller. An optimal input is obtained by minimizing input torque, it's successive input change and the error between the predicted output and the reference output.

• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1140-1146
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• 1999

In this paper, a force estimation method is proposed for force control without force sensor. For this , a disturbance observer is applied to each joint of an {{{{ { n}_{ } }}}} degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer due to internal torque, the disturbance observer output estimator(DOOE) is designed, where uncertain parameters of the robot manipulator are adjusted by the gradient method to minimize the performance index which is defined as the quadratic form of the error signal between the output of disturbance observer and that of DOOE. when the external force is exerted, the external force is estimated by the difference between the output of disturbance observer and DOOE, since output of disturbance observer includes the external torque signal as well as the internal torque estimated by the output of DOOE. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples and experimental results are illustrated for the 2-axis direct drive robot manipulator.

• 한국음향학회지
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• 제16권2호
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• pp.71-79
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• 1997

본 논문에서는 FVQ-DHMM(fuzzy vector quantization-discrete hidden Markov model)에서 강인한 출력확률의 추정을 위해서 코드워드 종속 거리 정규화와 출력확률에 대한 instar 형태의 퍼지 평활화 방법을 제안한다. FVQ-DHMM은 DHMM의 변형된 모델로, 상태별 출력확률이 입력패턴에 대한 각 코드워드와의 가중치와 출력확률의 곱에 대한 합의 형태로 추정된다. FVQ-DHMM의 성능이 가중치 요소와 상태별 출력분포에 영향을 받으므로, 가중치 요소와 상태별 출력분포를 강인하게 추정하는 방법이 필요하게 된다. 실험결과, 제안된 코드워드 종속 거리 정규화(CDDN : codeword dependent distance normalization)를 적용한 방법이 기존의 FVQ-DHMM에 비해 24%의 오인식률 감소가 있었으며, 상태별 출력분포에 대해서 평활화를 적용한 경우 79%의 오식율을 감소 시킴을 알 수 있었다. 이러한 결과는 제안된 CDDN과 퍼지 평활화의 사용이 향상된 인식율을 얻는데 주요하며, 결과적으로 제안된 방법이 FVQ-HMM을 위한 강인한 출력확률의 추정을 위한 대안으로 유용함을 보여준다고 할 수 있다.

• 조명전기설비학회논문지
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• 제25권4호
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• pp.45-56
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• 2011

This paper is proposed artificial neural network(ANN) rotor resistance estimation of induction motor drive controlled by multi-adaptive fuzzy learning controller(AFLC). A simple double layer feedforward ANN trained by the back-propagation technique is employed in the rotor resistance identification. In this estimator, double models of the state variable estimations are used; one provides the actual induction motor output states and the other gives the ANN model output states. The total error between the desired and actual state variables is then back propagated to adjust the weights of the ANN model, so that the output of this model tracks the actual output. When the training is completed, the weights of the ANN correspond to the parameters in the actual motor. The estimation and control performance of ANN and multi-AFLC is evaluated by analysis for various operating conditions. Also, this paper is proposed the analysis results to verify the effectiveness of this controller.

• 한국소음진동공학회논문집
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• 제24권10호
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• pp.802-808
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• 2014

The purpose of this study is to suggest efficient methods for estimating population exposed to noises by analyzing differences of population exposed to noises estimated by each method through comparing exposed population estimated by utilizing existing methods and those estimated by using census output areas reflecting the actual population information of each address. For population exposed to noises, the error of exposed population estimated by using the per capita living space turned out to be the biggest, and other estimation methods had no significant difference. For population exposed to excess noises, as a result of analyzing population estimated by each method based on census output areas, the error of the method using a grid noise map turned out to be the biggest. For the method to estimate population exposed to noises by using a noise map, the estimation methods using census output areas and total ground area are considered to be more rational than the grid noise map estimation method or the method to estimate the living space per capita.

• 한국환경과학회지
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• 제2권3호
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• pp.193-199
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• 1993

This study has two objectives. One is developing the runoff model for Hoe-Dong Reservoir basin located at the upstream of Su-Young River in Pusan. To develop the runoff model, basic hydrological parameters - curve number to find effective rainfall, and storage coefficient, etc. - should be estimated. In this study, the effective rainfall was calculated by the SCS method, and the storage coefficient used in the Clark watershed routing was cited from the report of P.E.B. The other is the derivation of transfer function for Hoe-Dong Reservoir basin. The linear, discrete, input-output model which contained six parameters was selected, and the parameters were estimated by the least square method and the correlation function method, respectively. Throughout this study, rainfall and flood discharge data were based on the field observation in 1981.8.22 - 8.23 (typhoon Gladys). It was observed that the Clark watershed routing regenerated the flood hydrograph of typhoon Gladys very well, and this fact showed that the estimated hydrological parameters were relatively correct. Also, the calculated hydrograph by the linear, discrete, input-output model showed good agreement with the regenerated hydrograph at Hoe-Dong Dam site, so this model can be applicable to other small urban areas. Key Words : runoff, effective rainfall, SCS method, clark watershed iou상ng, hydrological parameters, parameter estimation, least square method, correlation function method, input-output model, typhoon gladys.

• 한국농공학회지
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• 제39권2호
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• pp.97-103
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• 1997

DO concentration in the aquatic system is important for the water quality management perspective. Water quality model uses available reaeration coefficient (K2) estimation equations in calculating DO, however, they might include inevitable uncertainty that the model output can be less reliable. In this study, the calibrated QUAL2E model for the Passaic River in New Jersey, U.S., was used to examine the effect of K2 estimation equation on the output DO concentration of the river. The model was run with six commonly used equations separately with all the other conditions remained same. The result showed that the output DO concentration profiles varied widely with different equations, and maximum difference was 4.96 mg/L for the same location which is unacceptably large. It implies that the development of reliable equation is required for proper water quality management. The unreliable model output can lead to a wrong decision in water quality management such as unnecessarily high or too low treatment of wastewater, which will cause serious effect on the community economically and socially in either case. Generating more reliable model output with slight investment to develop a site specific K$_2$ equation can improve the decision making process significantly and is highly recommended.

• 전기학회논문지P
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• 제59권2호
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• pp.185-190
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• 2010

This paper presents the estimation on switching technique via output power source analysis of power conversion unit in electric railway vehicle. The focus of this study suggested an alternative on critical problems by using head electric power(HEP). To achieve this, we have measured output power of HEP, and measurement devices set up at output of transformer connected HEP to analysis quality on output power source of head electric power(HEP) unit in electric railway vehicle. Using results of measurement of it, parameters are assumed for simulation to confirm estimation on switching technique. It is confirmed that switching technique is Selected Harmonic Elimination PWM(SHEPWM) and inverter switching frequency is less than 500[Hz]. Throughout experiment and simulation, it is estimated that switching technique used HEP is advanced SHEPWM and switching frequency is about 300[Hz]. Also leakage inductance in transformer is about $180[{\mu}H]$ less than $365[{\mu}H]$ known.

• 전력전자학회논문지
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• 제21권6호
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• pp.514-524
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• 2016

This work suggests a study on 5 kW plasma power supply design and reactor capacitance estimation algorithm for a wide range of linear output control to operate a plasma reactor. The suggested study is designed to use a two-stage circuit and control the full-bridge circuit of the two-stage circuit using the buck converter output voltage of the single-stage circuit. The switching frequency of the full-bridge circuit is designed to operate through high-frequency switching and obtain maximum output using LC parallel resonance. Soft switching technique(ZVS) is used to reduce the loss caused by high-frequency switching, and duty control of the buck converter is applied to control a wide range of linear output. The internal capacitance of the reactor cannot easily be extracted, and thus, the reactor cannot be operated in an optimized resonant state. To address this issue, this work designs the internal capacitance of the reactor such that estimations can be performed with the developed reactor capacitance estimation algorithm applied to the internal capacitance of the reactor. A 5 kW plasma power supply is designed for a wide range of linear output control, and the validity of the study on the reactor capacitance estimation algorithm is verified.

• Bulletin of the Korean Chemical Society
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• 제24권3호
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• pp.279-284
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• 2003

The One Pass Method (OPM) previously presented for the identification of single input single output systems is used to estimate the parameters of a Decentralized Control System (DCS). The OPM is a linear and therefore a simple estimation method. All of the calculations are performed in one pass, and no initial parameter guess, iteration, or powerful search methods are required. These features are of interest especially when the parameters of multi input-output model are estimated. The benefits of the OPM are revealed by comparing its results against those of two recently published methods based on pulse testing. The comparison is performed using two databases from the literature. These databases include single and multi input-output process transfer functions and relevant disturbances. The closed loop responses of these processes are roughly captured by the previous methods, whereas the OPM gives much more accurate results. If the parameters of a DCS are estimated, the OPM yields the same results in multi or single structure implementation. This is a novel feature, which indicates that the OPM is a convenient and practice method for the parameter estimation of multivariable DCSs.