• Proceedings of the KIPE Conference
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• 2006.06a
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• pp.65-67
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• 2006

연료전지용 전력변환 시스템에서 기존의 PID 제어기의 해석적인 해를 얻는 것은 매우 어려운 일이다. 최근, UPS용 CVCF 시스템에서 오차 공간 접근법을 이용한 새로운 제어알고리즘을 바탕으로 시스템의 제어기의 제어상수를 해석적으로 접근하여 좋은 성능을 얻은 바 있다. 오차 공간 접근법은 해석적으로 시스템의 응답속도 및 오버슈트를 임의의 제한범위 내로 설계할 수 있도록 하는 제어할 수 있는 장점이 있다. 이러한 UPS 시스템의 제어기 설계방법을 유사한 구조의 연료전지의 인버터 제어기 설계에 적용하여 해석적으로 제어기의 제어상수를 얻고 시뮬레이션을 통하여 제어기가 안정하며 빠른 응답속도를 가지는 것을 확인한다.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.8
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• pp.459-466
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• 2000

In this paper, we propose an attitude controller for an unstructured object using CMG(Control Moment of Gyro) subsystem, which has a stabilizer function. The CMG subsystem consists of one motor for spinning the wheel and the other motor for turning the outer gimbal. While the wheel of CMG subsystem is spinning at high speed, applying force to the spin axis of the wheel leads the torque about the vertical axis. We utilize the torque to control the attitude of object in this study. For the stabilizer function, in additiion, holding the load at the current position, the power applied to the gimbal motor of CMG will be cut, which result in the braking force to stop the load by gyro effect. However, due to the gear reduction connected to outer gimbal, slow load motion cannot generate the braking force. Thus, in this study, we are willing to make a holding force by applying control power to the gimbal motor from the signal of piezoelectric gyroscopic sensor that detected the angular velocity of the load. These two features are demonstrated in experiment, carrying a beam with crane. As a result, load was started to rotate by controlling gimbal positiion and was stopped by turning off the gimbal power. Moreover, slow movement of the load was also rejected by additional control with gyroscopic sensor.

• Journal of Drive and Control
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• v.11 no.1
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• pp.1-7
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• 2014

This paper presents a novel concept of wave energy converter for electric generation from the ocean wave energy. In this paper, a Multi-Point Absorbing Wave Energy Converter, shortened as MPAWEC by using Secondary Control Hydrostatic Transmission (SCHST) was proposed. The power take-off (PTO) system in the proposed MPAWEC includes multi heaving buoys to drive hydraulic pumps placed at different points. The application of SCHST in MPAWEC gives some advantages, such as longevity of hydraulic components; more energy is harvested; the variation of the pressure in the accumulator limited; therefore the accumulator volume is reduced and the output speed is more stable, etc. A PID controller was designed for speed control of the hydraulic motor. The simulation results indicated that the speed of the generator was ensured with the relative error as 0.67%; the efficiency of the proposed system was 71.4%.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.111-112
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• 2006

A new MR cylinder with built-in valves using Magneto - Rheological fluid (MR valve) is proposed for fluid power control systems. The MR fluid is a newly developed functional fluid whose obvious viscosity is controlled by the applied magnetic field intensity. This MR cylinder, which is composed of cylinder with small clearance and piston with electromagnet, has the characteristics of simple, compact and reliable structure. This paper presents a method to control the pressure of MR cylinder by using Generalized Predictive Control (GPC) algorithm. The differential pressure is controlled by applying magnetic field intensity to MR fluid. The use of GPC controller is to generate a control sequence by minimizing a cost function in such a way that the future system output is driven close to reference over finite prediction horizons. Experimental results from real time control using GPC method compared with conventional PID control method are also shown in this paper.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.10a
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• pp.344-349
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• 2012

This paper presents a new small-sized damper featuring magneto-rheological (MR) fluid which can be applied to vibration control system. The proposed MR damper consists of cylinder, piston, a couple of bearings, oil-seals and magnetic circuit which has two coils. In this damper, approximately 5cc of MR fluid is used. The damping force of the MR damper is designed to be followed by linear shear-mode Bingham-plastic model. In order to verify the performance of the MR damper, an experimental apparatus is established. In the experimental test, the damping force of the MR damper is measured with respect to time, displacement and velocity. In addition, the time response of MR damper is measured when 1A of step current is applied. Finally, The proposed small MR damper is applied to vibration control. In this process, a simple 1-DOF system is modeled and controlled using PID controller.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.11
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• pp.1121-1127
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• 2012

This paper presents a new small-sized damper featuring magneto-rheological(MR) fluid which can be applied to vibration control system. The proposed MR damper consists of cylinder, piston, a couple of bearings, oil-seals and magnetic circuit which has two coils. In this damper, approximately 5cc of MR fluid is used. The damping force of the MR damper is designed to be followed by linear shear-mode Bingham-plastic model. In order to verify the performance of the MR damper, an experimental apparatus is established. In the experimental test, the damping force of the MR damper is measured with respect to time, displacement and velocity. In addition, the time response of MR damper is measured when 1A of step current is applied. Finally, the proposed small MR damper is applied to vibration control. In this process, a simple 1-DOF system is modeled and controlled using PID controller.

• Proceedings of the KAIS Fall Conference
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• 2009.05a
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• pp.244-248
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• 2009

본 논문에서는 만타형상의 무인잠수정의 운동성능과 제어기설계에 대한 성능을 확인하기 위한 수학모델을 정립하여 시뮬레이션 프로그램을 개발하였다. 본 논문에 사용된 수학모델은 6자유도 운동방정식을 이용하여 Matlab / Simulink를 이용하여 시뮬레이션 프로그램을 개발하였다. 개발된 시뮬레이션 프로그램을 이용하여 만타형상무인잠수정(Manta-type unmanned underwater test vehicle)의 동역학적 운동성능을 해석하였으며, 무인잠수정의 제어성능을 해석하기 위하여 PID(비례-미분-적분)제어기와 슬라이딩모드(Sliding mode)제어기를 설계하여 만타형상무인잠수정의 제어 성능을 해석하였다. 설계된 제어기는 무인잠수정의 수심제어와 방향각제어에 사용되었다. 설계된 제어기의 성능을 확인하기 위하여 미국 해군대학원(Naval Postgraduate School)의 AUV II와 비교하였다. 설계된 수심제어와 방향각 제어기를 이용하여 만타형무인잠수정의 설계 목표에 부합하는 항해제어시뮬레이션을 실시하였다.

• Journal of the Korean institute of surface engineering
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• v.38 no.2
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• pp.73-78
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• 2005

A real-time monitoring of ICP(inductively coupled plasma) assisted magnetron sputtering of MgO was carried out using a QMS(quadrupole mass spectrometer), an OES(optical emission spectrometer), and a digital oscilloscope with a high voltage probe and a current monitor. At the time of ICP ignition, the most distinct impurity was OH emission (308.9 nm) which was dissociated from water molecules. For reactive deposition oxygen was added to Ar and the OH emission intensity was reduced abruptly When the discharge voltage was regulated by a PID controller from 240V(metallic mode) to 120V(oxide mode), the emission intensity from Mg (285.2 nm) changed proportionally to the discharge voltage, but the intensity of Ar I(811.6 nm) was constant. At 100V of discharge voltage, Mg sputtering was almost stopped. Emissions from Ar I(420.1 nm) and Mg I were dropped down to 1/10, but Ar I(811.6 nm) didn't change. And the emission from atomic oxygen (O I, 777.3 nm) was increased to 10 times. These results are compatible with those from QMS study.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.10 s.253
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• pp.1261-1268
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• 2006

This paper reports low-cost microreactor $(10{\mu}{\ell})$ biochip for the DNA PCR (polymerase chain reaction). The microbiochip $(20mm{\times}28mm)$ is a hybrid type which is composed of PDMS (polydimethylsiloxane) layer with serpentine micochannel $(360{\mu}m{\times}100{\mu}m)$ chamber and glass substrate integrated with microheater and thermal microsensor. Undesirable bubble is usually created during sample loading to PMDS-based microchip because of hydrophobic chip surface. Created bubbles interrupt stable biochemical reaction. We designed improved microreactor chamber using microfluidic simulation. The designed reactor has a coner-rounded serpentine channel architecture, which enables stable injection into hydrophobic surface using micropipette only. Reactor temperature needed to PCR reaction is controlled within ${\pm}0.5^{\circ}C$ by PID controller of LabVIEW software. It is experimentally confirmed that SRY gene PCR by the fabricated microreactor chip is performed for less than 54 min.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.212-220
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• 2020

This paper deals with a strategy of gain optimization for the kinematic control algorithm of a wire-driven surgical robot. The proposed controller consists of the closed-loop inverse kinematics with the back-calculation method. The closed-loop inverse kinematics has 18 PID control gains, and the back-calculation method has 6 gains. An efficient strategy is designed to optimize 18 values first and then the remaining 6 values. The optimal gain sets are searched under the step input with performance indices. In this gain optimization, the objective function is defined as the minimum value of signal-to-noise ratio of the performance indices for 6 DoF (Degree-of-Freedom) motion that is based on the Taguchi method, and the constraints are applied to obtain stable responses for each motion evenly. The gain sets obtained are verified by simulations using the test trajectories. In comparative results, the optimal gain value based on the performance index combined with ISE (integral of square error) and settling time showed the best control performance.