• 제어로봇시스템학회논문지
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• 제4권1호
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• pp.76-81
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• 1998

This paper presents an on-line scheme for parameter estimation of continuous-time systems, based on the model adjustment technique and the genetic algorithm technique. To deal with the initialisation and unmeasurable signal problems in on-line parameter estimation of continuous-time systems, a discrete-time model is obtained for the linear differential equation model and approximations of unmeasurable states with the observable output and its time-delayed values are obtained for the nonlinear state space model. Noisy observations may affect these approximation processes and degrade the estimation performance. A digital prefilter is therefore incorporated to avoid direct approximations of system derivatives from possible noisy observations. The parameters of both the model and the designed filter are adjusted on-line by a genetic algorithm, A set of simulation works for linear and nonlinear systems is carried out to demonstrate the effectiveness of the proposed method.

• Journal of Information Processing Systems
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• 제16권2호
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• pp.394-405
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• 2020

The parameters of transmission lines have an influence on the electromagnetic environment surrounding the line. This paper proposes a method based on phasor measurement unit (PMU) and supervisory control and data acquisition (SCADA) to achieve online estimation of transmission line full parameters, such as resistance, reactance and susceptance. The proposed full parameter estimation method is compared with the traditional method of estimating resistance independently based on SCADA system. Then, the electromagnetic environment is analyzed based on the different parameter estimation methods. The example results illustrate that online estimation of transmission line full parameters is more accurate in the analysis of electromagnetic environment, which further confirms its necessity and significance in engineering application.

• Journal of Power Electronics
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• 제16권1호
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• pp.1-8
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• 2016

Dead time is typically incorporated in voltage source inverter systems to prevent short circuit cases. However, dead time causes an error between the output voltage and reference voltage. Hence, voltage equation-based algorithms, such as motor parameter estimation and back electromotive force (EMF)-based sensorless algorithms, are prone to estimation errors. Several dead-time compensation methods have been developed to reduce output voltage errors. However, voltage errors are still common in zero current crossing areas, and an effect of the error is much worse in a low speed region. Therefore, employing voltage equation-based algorithms in low speed regions is difficult. This study analyzes the conventional dead-time compensation method and output voltage errors in low speed operation areas. A current shaping method that can reduce output voltage errors is also proposed. Experimental results prove that the proposed method reduces voltage errors and improves the accuracy of the parameter estimation method and the performance of the back EMF-based sensorless algorithm.

• 한국항공우주학회지
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• 제32권9호
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• pp.57-64
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• 2004

본 논문은 실제의 비행시험 데이터를 이용하여 커나드 비행기 Velocity-173의 가로-방향의 조종/안정 미계수들을 추정하는 것이며, 나아가서 비행중에 (In-Flight) 실시간 파라미터 추정기법을 이용한 미계수 확인 및 분석에 관한 내용이다. 본 논문에서 적용한 비행 중 실시간 파라미터 추정기법의 결과는 AAA의 해석 결과와 비교하였으며, 그 결과는 상당히 신뢰할 수 있고 계산시간 또한 만족스러움을 확인하였다.

• 전기학회논문지
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• 제59권4호
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• pp.722-727
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• 2010

This paper presents Dynamic-Simulation to estimate the inductance of a permanent magnet type transverse flux rotating motor by applying the real-time parameter estimation theory. As transverse flux rotating motor has the complex structure, it can be happen to some errors between real value and designed one with respect to the inductance. To reduce this kinds of errors, the real-time parameter estimation theory was applied to dynamic-simulation. And then, By comparing the estimated inductance and designed one, it is realized that the real-time parameter estimation theory can be applied in the permanent magnet type transverse flux rotating motor.

• 응용통계연구
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• 제26권5호
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• pp.713-723
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• 2013

본 연구에서는 2-모수 파레토분포에 대해 무정보사전분포인 준거사전분포의 가정 하에서 객관적 베이지안 모수추정 절차를 제안하였다. 베이지안 추정은 깁스샘플링에 의해서 수행된다. 깁스샘플러에서 모수생성하는 방법은 형태모수는 감마분포로부터 생성하고 척도모수는 적응기각표집 알고리즘에 의해 생성한다. 제안된 베이지안 모수추정 절차는 모의실험과 자료분석에서 기존의 추정방법들인 L-적률추정법, 최우추정법, 공액사전분포 하의 주관적 베이지안 모수추정법과 비교된다.

• 한국정밀공학회지
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• 제29권9호
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• pp.986-994
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• 2012

This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera's focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.

• Communications for Statistical Applications and Methods
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• 제16권3호
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• pp.463-477
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• 2009

극단치 분포의 모수 추정방법으로 최우추정법, 확률가중적률법, 회귀분석법은 기존 연구에서 활발하게 적용되어져 왔다. 그러나 이들 세 가지 추정방법 가운데, 회귀분석법의 우수성은 엄격하게 평가되어진 적이 없다. 본 논문에서는 몬테칼로 시뮬레이션을 통하여 Generalized Extreme Value(GEV) 분포와 Generalized Pareto(GP) 분포의 모수 추정에 회귀분석법 및 다른 추정방법을 적용하여 비교 연구한다. 시뮬레이션 결과, 표본의 크기가 작은 경우 회귀분석 법은 GEV 분포의 위치모수 추정시 편의 측면과 효율성 측면에서 다른 방법보다 우수한 경향을 나타내었다. GP 분포의 규모모수 추정시에는 표본의 크기 가 작을 경우 회귀분석법이 다른 방법보다 작은 편의를 나타내었다. 회귀분석법은 표본의 크기 가 작거나 적당히 큰 경우에도 GEV 분포나 GP 분포의 형태모수 추정시에 형태모수의 값이 -0.4일 경우, 다른 방법보다 우수한 경향을 나타내었다.

• Journal of Power Electronics
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• 제6권3호
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• pp.235-244
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• 2006

Recently, speed sensorless vector control for synchronous reluctance motors (SYRMs) has deserved attention because of its advantages. Although rotor angle calculation using flux estimation is a straightforward approach, the DC offset can cause an increasing pure integrator error in this estimator. In addition, this method is affected by parameter fluctuation. In this paper, to control the motor at the low speed region, a modified programmable cascaded low pass filter (MPCPLF) with sensorless online parameter identification based on a block pulse function is proposed. The use of the MPCLPF is suggested because in programmable, cascade low pass filters (PCLPF), which previously have been applied to induction motors, the drift increases vastly wl)en motor speed decreases. Parameter identification is also used because it does not depend on estimation accuracy and can solve parameter fluctuation effects. Thus, sensorless speed control in the low speed region is possible. The experimental system includes a PC-based control with real time Linux and an ALTERA Complex Programmable Logic Device (CPLD), to acquire data from sensors and to send commands to the system. The experimental results show the proposed method performs well, speed and angle estimation are correct. Also, parameter identification and sensorless vector control are achieved at low speed, as well as, as at high speed.

• 대한기계학회논문집A
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• 제24권1호
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• pp.7-15
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• 2000

This paper suggests an auto-tuning I'll) control algorithm that uses the advantage of PID controller and improves the system performance. The PID gains being designed by th- conventional method are tuned through the plant parameter estimation. The Extended Kalman Filter is used for the estimation. It works as an observer and noise filter. Moreover, as the plant state and the uncertain parameter could be estimated simultaneously, the proposed algorithm is very useful in the tracking control of a system with uncertain parameter. The auto-tuning I'll) controller could maintain the system performance in the case that the plant parameters are uncertain or varying. The proposed control algorithm requires a correct estimation of the plant parameter. The controller stability and the performance is considered through the stability criteria and a servo motor model. The Kalman filter estimates the most sensitive plant parameter, which is determined by the sensitivity analysis.