• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.7
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• pp.1694-1704
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• 2015

In this paper, a robust trajectory tracking control method of a wheeled mobile robot is newly proposed combining the PDC and the ISMC. The PDC is a relatively simple and easy control method for nonlinear system compared to the other non-linear control methods. And the ISMC can have robust and stable control characteristics against model uncertainties and disturbances from the initial time by placing the states on the sliding plane with desired nominal dynamics. Therefore, the proposed PDC+ISMC trajectory tracking control method shows robust trajectory tracking performance in spite of external disturbance. The tracking performance of the proposed method is verified through simulations. Even though the disturbance increases, the proposed method keeps the performance of the PDC method when there is no disturbance. However, the PDC trajectory tracking control method has increasing tracking error unlike the proposed method when the disturbance increases.

• Journal of Electrical Engineering and Technology
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• v.10 no.3
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• pp.1107-1113
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• 2015

Test temperature is an important factor affecting the measurement results of dielectric response of field power transformers. In order to better apply the polarization and depolarization current (PDC) to the condition monitoring of oil-paper insulation system in power transformers, the influences and elimination method of test temperature on PDC characteristic spectroscopy (PDC-CS) were investigated. Firstly, the experimental winding sample was measured by PDC method at different test temperatures, then the PDC-CS was obtained from the measurement results and its changing rules were discussed, which show that the PDC-CS appears a horizontal mobility with the rise of temperature. Based on the rules, the “time temperature shift technique” was introduced to eliminate the influence of test temperature. It is shown that the PDC-CS at different test temperatures can be converted to the same reference temperature coincident with each other.

• Journal of the Korean Institute of Intelligent Systems
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• v.9 no.6
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• pp.598-604
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• 1999

A new fuzzy control algorithm for the control of active magnetic bearing (AMB) systems is proposed in th~sp aper. It combines PDC algorithm based on the LMI design of Joh et al. [4,5] and Mamdani-type control rules using fuzzy singletons to handle the nonlinear characteristics of AMB systems efficiently. They are named fine mode control and coarse mode control, respectively. The coarse mode control yields fast response for large deviation of the rotor and the fine mode control gives desired transient response for small deviation of the rotor. The proposed algorithm is applied to an AMB system to verify the performance of the proposed method. The comparison of the proposed method with a linear controller using a linearized model about the equilibrium point and the PDC algorithm show the superiority of the proposed algorithm.

• Journal of the Korean Society of Clothing and Textiles
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• v.26 no.12
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• pp.1749-1755
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• 2002

본연구의 목적은DP가공에 의한 가교화를 통해 텐셀의 피브릴화를 조절할 때 DP가공 방법 및 NaOH전처리 효과를 물성, 표면형태, 역학적 성질 및 태의 변화의 관점에서 고찰하는데 있다. SEM 분석결과DP가공에 의해 피브릴 발생 정도는 감소하였다. DP가공 방법에 있어 서 WF법과 PDC법에 따른 물성의 차이는 나타나지 않았다. 역학적특성의 경우 DP가공은 DP가공 방법에 상관없이 효소처리한 직물의 인장선형성에는 큰 영 향을 주지 않았으나 인장에 너지, 굽힘 강성, 압축선형성, 압축 레질리언스, 기하학적 거칠기는 감소시켰고 인장 레질리언스, 굽힘이력, 압축에너지는 증가시켰다. 전단특성은 WF법에서는 증가한 반면, PDC법에서는 감소하여 DP가공 방법에 따른 차이를 나타내었다. WF법이 PDC법보다 더 높은 Koshi, Numeri, Fukurami 값을 보였으며, 종합태 값은 비슷하게 나타났다. NaOH 전처 리에 의해 수지부착량은 감소하였으나 감량률은 증가하였으며, DP성/물성은 더 낮게 나타났다. NaOH 전처리에 의해 인장선형성, 인장에너지, 압축 레질리언스, 전단 및 굽힘특성은 증가하였으나 인장레질리언스와 압축선형성, 압축에너지, 표면특성은 감소하였다. NaOH 전처리한 경우 Koshi는 증가하였고, Numrei와 Fukuramil는 감소하였으며, 종합태 값은 가장 낮았다. 처리한 시료들은 각각 다른 감성과 촉감을 나타냈다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.331-336
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• 1998

A systematic design method for PDC(Parallel Distributed Compensation)-type continuous time Takagi-Sugeno(T-S in short) fuzzy control systems which have inaccessible states is developed in this paper. Reduced-dimensional fuzzy state estimator is introduced from existing T-S fuzzy model using the PDC structure of Wang et al. [1] LMI(Linear Matrix Inequalities) problems which represent the stabililty of the reduced-dimensional fuzzy state estimator are derived. Pole placement constraints idea for each rules is adopted to determine the estimator gains and they are also revealed as LMI problems. these LMI problems are combined with Joh et al's [7][8] LMI problems for PDC -type continuous time T-S fuzzy controller design to yield a systematic design method for PDC -type continuous time T-S fuzzy control systems which have inaccessible states.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.337-342
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• 1998

A new fuzzy control algorithm for the control of active magnetic bearing (AMB) systems is proposed in this paper. It combines PDC design of Joh et al. [8][9] and Namdani-gype control rules using fuzzy singletons to handle the nonlinear characteristics of AMB systems efficiently. They are named fine mode control and rough mode control , respectively. The rough mode control yields the fastest response for large deviation of the rotor and the fine mode control fives desired transient response for small deviation of the rotor. The proposed algorithm is applied a AMB systems to verify the performance of the method, The comparison of the proposed method to a linear controller using a linearized model about the equilibrium point and PDC algorithm in [7] show the superiority of the proposed algorithm.

• Transactions on Electrical and Electronic Materials
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• v.15 no.1
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• pp.7-11
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• 2014

The Polarization and Depolarization Current (PDC) measurement is an efficient and effective diagnostic technique based on time domain measurement, for evaluating the high voltage insulation condition. This paper presents a review and comparison results from several published papers on the application of the PDC method to finding the conductivity and moisture content of various types of insulators. For solid insulation, the study was focused on cable insulation, electric machine stator insulation, and paper insulator in transformer insulation with different conditions. For liquid insulation, the review and comparison was done on biodegradable and mineral transformer oils, with fresh oil condition, and aged condition. The results from previous researchers tests were complied, analyzed and discussed, to evaluate the application of the PDC method to monitor the conductivity and moisture of HV equipment insulation systems. From the review results, the PDC technique successfully gives an indication of the conductivity and moisture level of high voltage insulation.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.2
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• pp.265-276
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• 2017

In this paper, a robust and more accurate trajectory tracking control method for a mobile robot is proposed using WIPDC(Weighted Integral Parallel Distributed Compensation) and T-S Fuzzy disturbance observer. WIPDC reduces the steady state error by adding weighted integral term to PDC. And, T-S Fuzzy disturbance observer makes it possible to estimate and cancel disturbances for a T-S fuzzy model system. As a result, the trajectory tracking controller based on T-S Fuzzy disturbance observer shows robust tracking performance. When the initial postures of a mobile robot and the reference trajectory are different, the initial control inputs to the mobile robot become too large to apply them practically. In this study, also, the problem is solved by designing an initial approach path using a path planning method which employs $B\acute{e}zier$ curve with acceleration limits. Performances of the proposed method are proved from the simulation results.

• Bulletin of the Korean Chemical Society
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• v.22 no.5
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• pp.463-466
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• 2001

The determination of Cd2+ and Cu2+ with ammonium pyrrolidinedithiocarbamate (APDC) in Tween 80 micellar media has been studied. The UV-visible spectrum of Cd(PDC)2 complex in Tween 80 media had more sensitivity tha n in chloroform. Although the UV-visible spectrum of the Cu(PDC)2 complex in Tween 80 media had somewhat less sensitivity than that in chloroform, absorbance data of Cu2+ were more reproducible in Tween 80 media. The Cd(PDC)2 and Cu(PDC)2 complexes were very stable at pH 7.0 for up to 100 minutes and could be quantitatively chelated if APDC were added to the sample solution more than 30 times the moles of Cd2+ and Cu2+ . The optimum concentration of Tween 80 was 0.1%. The calibration curves of Cd(PDC)2 and Cu(PDC)2 complexes with good linearity were obtained in 0.1% Tween 80 media. The detection limits of Cd2+ and Cu2+ were 0.0493 ㎍mL-1 and 0.0393 ㎍mL-1 , respectively. Recovery yields of Cd2+ and Cu2+ ions in the spiked real samples were almost 100%. Based on experimental results, this proposed method could be applied to the rapid and simple determination of Cd2+ and Cu2+ in real samples.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.496-501
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• 2016

This paper presents a design method of non-parallel distributed compensation (non-PDC) static output feedback controller for continuous- and discrete-time T-S fuzzy systems. The existence condition of static output feedback control law is represented in terms of linear matrix inequalities (LMIs). The proposed sufficient stabilizing condition does not need any transformation matrices and equality constraints and is less conservative than the previous result of [21].