• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.5B no.2
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• pp.189-195
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• 2005

This paper presents a new velocity estimation strategy for a non-salient permanent magnet synchronous motor drive without high frequency signal injection or special PWM pattern. This approach is based on the d-axis current regulator output voltage of the drive system, which contains the rotor position error information. The rotor velocity can be estimated through a rotor position tracking PI controller that controls the position error at zero. For zero and low speed operation, the PI gain of the rotor position tracking controller has a variable structure according to the estimated rotor velocity. Then, at zero speed, the rotor position and velocity have sluggish dynamics because the varying gains are very low in this region. In order to boost the bandwidth of the PI controller during zero speed, the loop recovery technique is applied to the control system. The PI tuning formulas are also derived by analyzing this control system by frequency domain specifications such as phase margin and bandwidth assignment.

• Journal of Magnetics
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• v.12 no.3
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• pp.113-117
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• 2007

Here we report a theoretical description of ferromagnetic vortex dynamics. Based on Thiele's formulation of the Landau-Lifshitz-Gilbert equation, the motion of the vortex core could be described by a function of the vortex core position. Under a parabolic potential generated in the circular magnetic patterns, the vortex core showed a circular rotation-namely the gyrotropic motion, which could be described by a 2-dimensional simple harmonic oscillator. The gyrotropic frequency and apparent damping constant were predicted and compared with the values obtained micromagnetic calculation.

• Journal of the Korean Institute of Intelligent Systems
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• v.5 no.3
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• pp.36-51
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• 1995

An approach to robot hybrid position/force control, which allows force manipulations to be realized without overshoot and overdamping while in the presence of unknown environment, is given in this paper. The manin idea is to used dynamic compensation for known robot parts and fuzzy compensation for unknown environment so as to improve system performance. The fuzzy compensation is implemented by using rule based fuzzy approach to identify the unknown environment. The establishment of proposed control system consists of following two stages. First, similar to the resovled acceleration control method, dynamic compensation and PD control based on known robot dynamics, kinematics and estimated environment stiffness is introduced. To avoid overshoot the whole control system is constructed with overdamping. In the second stage, the unknown environment stiffness is identified by using fuzzy reasoning, where the fuzzy compensation rules are obtained priori as the expression of the relationship betweenenvironment stiffness and system. Based on the simulation result, comparison between cases with or without fuzzy identifications are given, which illustrate the improvement achieced.

• Ocean Systems Engineering
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• v.1 no.2
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• pp.171-194
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• 2011

A method to design a boundary controller for global stabilization of three-dimensional nonlinear dynamics of flexible marine risers is presented in this paper. Equations of motion of the risers are first developed in a vector form. The boundary controller at the top end of the risers is then designed based on Lyapunov's direct method. Proof of existence and uniqueness of the solutions of the closed loop control system is carried out by using the Galerkin approximation method. It is shown that when there are no environmental disturbances, the proposed boundary controller is able to force the riser to be globally exponentially stable at its equilibrium position. When there are environmental disturbances, the riser is stabilized in the neighborhood of its equilibrium position by the proposed boundary controller.

• The Journal of Korean Institute of Next Generation Computing
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• v.15 no.4
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• pp.51-61
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• 2019

In this paper, we have implemented soil simulation using fluid simulation technology. A widely used NVIDIA FleX was used to represent the soil generated by excavation work. FleX is a particle-based physics simulation library that combines SPH (Smoothed-particle hydrodynamics) and Position Based Dynamics techniques. However, since the soil has not only fluid properties but also non-fluid properties, it is difficult to simulate with the functions provided by conventional FleX. In this study, we added a technique to simulate non-fluid behavior using existing Flex. This can lead to effective results improvement at low cost.

• Proceedings of the Korean Society of Computer Information Conference
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• 2024.01a
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• pp.379-382
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• 2024

본 논문에서는 위치기반 동역학(Position based dynamics, PBD)을 기반으로 하는 프레임워크를 활용하여 풍선 내 공기로 의한 표면의 회전과 변형을 효율적으로 표현할 수 있는 새로운 방법을 제안한다. 기존의 경우 볼륨 형태인 다면체 메쉬(Tetrahedral mesh)를 활용하여 표면 내부를 모델링 하거나 입자 기반의 유체 시뮬레이션을 통하여 공기역학을 계산해야 되지만, 각각의 동역학뿐만 아니라 상호작용까지 고려해야 되기 때문에 계산양이 커서 다양한 분야에서 활용하기 어렵다. 본 논문에서는 이 문제를 효율적으로 풀어내기 위해 공기의 움직임을 파악하기 위한 유체 시뮬레이션을 계산하지 않고도, 풍선 내 바람에 의한 표면 수축 및 확장을 PBD기반으로 풀어내고, 공기가 빠질 때 나타나는 표면의 회전을 효율적으로 계산할 수 있다. 본 논문에서 제안하는 방법은 정점(Vertex)의 개수가 많은 모델에서도 실시간 처리되는 결과를 보여 줄 수 있기 때문에 게임뿐만 아니라 실시간을 요구하는 물리기반 가상환경 구축에 활용될 수 있다.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2501-2503
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• 2004

In this paper, we propose an auto-tuning control algorithm for a mobile robot. This controller consists of a three layer neural networks and a PID controller. In order to compensate for uncertainties from unknown dynamics and ignored dynamic effects such as slip conditions, neural network based position schemes are proposed. The results of simulations show the validity of proposed method. This controller learns quickly the model and has good position control performance.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1227-1229
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• 2007

In this paper a robust controller using adaptive backstepping technique is proposed to control the position of wind power generation system. To make wind power generation truly cost effective and reliable, advanced and robust control algorithms are derived to on-line adjust the excitation winding voltage of the generator based on both mechanical and electrical dynamics. This method is shown to be able to achieve smooth and asymptotic rotor speed tracking, as justified by analysis and computer simulation.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.4
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• pp.435-445
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• 2019

Ball screw drives are widely used in industry, and many studies have been devoted on precise, fast and robust control of ball screw drives. In this study, a novel position control algorithm for ball screw drives is proposed, which consist of a PD controller, a friction feedforward and a disturbance observer. The dynamics and the position error of such controller are analyzed to establish an error model, which can be used to predict the resulting position error of the given desired trajectory. Using the proposed error model, the desired trajectory can be modified so that the predicted position error can be compensated in a feedforward manner. The proposed algorithm does not require the model of the system for the error prediction, and thus can be easily applied to conventional control systems. The performance of the system is verified through simulations and experiments.

• Journal of Navigation and Port Research
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• v.41 no.5
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• pp.337-344
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• 2017

In the offshore crane system, the requirements on the operating safety are extremely high due to many external factors. Rope extension is one of the factors producing vertical vibration of load. In this study, the load is carried by the motor-winch actuator control and the rope is modeled as a mass-damper-spring system. To control the load position and suppress the vertical vibration of the load, a control system based on input-output linearization method is proposed. By the simulation and experiment results with pilot crane model, the effectiveness of proposed control method is evaluated and verified.