• 한국정보통신설비학회:학술대회논문집
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• 2006.08a
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• pp.67-70
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• 2006

This paper deals with a single crystalline silicon (SCS) RF MEMS switch for telecommunication system applications. The proposed SCS switch was fabricated using a silicon-on-glass (SiOG) process and its performances in terms of RF responses, switching time, lifetime were characterized. The proposed SCS switch consists of movable plates, mechanical spring structures, which are composed of robust SCS, resulting in mechanically good stability, The measured actuation voltage was 30 V, and with this applied voltage, the insertion loss and isolation characteristics were measured to be 0.05 and 44.6 dB at 2 GHz respectively. The measured switch ON and OFF time were 13 and $9{\mu}s$, respectively. The lifetime of the fabricated switch was tested. Even after over 1 billion cycles repeated ON/OFF actuations, the switch maintained its own characteristics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.162-169
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• 1999

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator using digital Signal Processors. Digital signal processors DSPs. are micro-processors that are particularly developed for variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a biable computatinal tool in digital implementation of sophisticated controllers. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. The proposed adaptive-neuro control scheme is illustrated to be a efficient control scheme for implementation of real-time control of robot system by the simulation and experiment.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1322-1327
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• 2003

It is important to determine supporting locations for structural stability of a structure under non-uniform load in space interfered by other parts. In this case, There are many local optima with discontinuous design space. Therefore, The traditional optimization methods based on derivative are not suitable. Whereas, Genetic algorithm(GA) based on stochastic search technique is a very robust and general method. This paper has been presented to determine supporting locations of the vertical supports for reducing stress of the KSTAR(Korea super Superconducting Tokamak Advanced Research) IVCC(In-vessel control coil) under non-uniform electromagnetic load and space interfered by other parts using genetic algorithm. For this study, we develop a program combining finite element analysis with a genetic algorithm to perform structural analysis of IVCC. In addition, this paper presents a technique to perform optimization with FEM when design variables are trapped in an incongruent design space.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.1
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• pp.42-49
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• 2004

This paper presents a new method of external load disturbance compensation using deadbeat load torque observer and gain compensation by parameter estimator. The response of the permanent magnet synchronous motor(PMSM) follows the nominal plant. The load torque compensation method is composed of a deadbeat observer. To reduce the noise effect, the post-filter implemented by moving average(MA) process is adopted. The parameter compensator with recursive least square method(RLSM) parameter estimator is suggested to make the new system work as same as the name plate system which in used to take gains. The proposed estimator is combined with a high performance load torque observer to resolve the problems. As a result, the proposed control system has a robust and precise system against the load torque and the parameter variation. A stability and usefulness are verified by computer simulation and experiment.

• Journal of Power Electronics
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• v.8 no.4
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• pp.354-362
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• 2008

This paper presents neural load torque compensation method which is composed of a deadbeat load torque observer and gains compensation by a parameter estimator. As a result, the response of the PMSM (permanent magnet synchronous motor) obtains better precision position control. To reduce the noise effect, the post-filter is implemented by a MA (moving average) process. The parameter compensator with an RLSM (recursive least square method) parameter estimator is adopted to increase the performance of the load torque observer and main controller. The parameter estimator is combined with a high performance neural load torque observer to resolve problems. The neural network is trained in online phases and it is composed by a feed forward recall and error back-propagation training. During normal operation, the input-output response is sampled and the weighting value is trained multi-times by the error back-propagation method at each sample period to accommodate the possible variations in the parameters or load torque. As a result, the proposed control system has a robust and precise system against load torque and parameter variation. Stability and usefulness are verified by computer simulation and experiment.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.18 no.1
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• pp.43-49
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• 2005

Temperature stabilities of resonance frequencies of the substrates are very important in piezoelectric ceramics oscillators and fitters. In this study, it was investigated thermal resisting property of the length-extensional vibration mode of PZT ceramics. The mode can be utilized in fabricating ultra-small 55 kHz IF devices. We fabricated the ceramic specimens with x = 0.51, 0.52, 0.53, 0.54, and 0.55 in the Pb(Zr$\sub$x/Ti$\sub$1-x/)O$_3$ system. And their resonance frequencies were measured before 1st thermal aging, after 1st and 2nd thermal aging. In order to investigate the influence of thermal aging on thermal resisting properties, thermally aged specimens were once mote thermally aged. Before 1st thermal aging, the specimens of the compositions with morphotropic phase, x = 0.53 and rhombohedral phase, x = 0.54 have weak thermal resisting property of resonance frequency, while tetragonal phase, x = 0.51 has robust thermal resisting property of resonance frequency. 1st thermal aging improved thermal resisting property of resonance frequency in all specimens.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.45-46
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• 2006

In this paper, a dual stage servo mechanism has been developed for image tracking system to improve transient control performances such as small rise time, small overshoot, small settling time, etc. A secondary stage, a platform, actuated by a pair of electro-magnets is mounted on a conventional elevation gimbal. In this mechanism, the gimbal provides large range but slow motion and the platform provides small range but fast positioning. A sliding mode control is applied to the platform positioning to attain robust performances and stability in the presence of the disturbance related to dynamic coupling of the gimbal and the platform. Results from experiments illustrate that the suggested dual stage mechanism controlled by the sliding mode control is effective in improving transient responses and attenuating the disturbance related with dynamic coupling.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.2
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• pp.192-198
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• 2001

In this study, a methodology of synchronous control which can be applied to position synchronization of a two-axes driving system has been developed. The synchronous error is caused by model uncertainties and torque disturbance of each axis. To overcome these problems, the proposed synchronous control system has been composed of two speed controllers and one synchronous controller. The speed controllers based on PID control law are aimed at the following to speed reference. And the parameters of speed controllers have been designed in order that speed response of the second axis corresponds with one of first axis. Especially, considering to model uncertainties of each axis, the synchronous controller has been designed using H$\infty$ control theory. The controller eliminates the synchronous error by controlling speed of the second axis. The effectiveness of the proposed method has been verified through simulation.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.137-146
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• 2001

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.429-434
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• 2016

This paper introduces a stabilization condition for polynomial fuzzy systems that guarantees $H_{\infty}$ performance under the imperfect premise matching. An $H_{\infty}$ control of polynomial fuzzy systems attenuates the effect of external disturbance. Under the imperfect premise matching, a polynomial fuzzy model and controller do not share the same membership functions. Therefore, a polynomial fuzzy controller has an enhanced design flexibility and inherent robustness to handle parameter uncertainties. In this paper, the stabilization conditions are derived from the polynomial Lyapunov function and numerically solved by the sum-of-squares (SOS) method. A simulation example and comparison of the performance are provided to verify the stability analysis results and demonstrate the effectiveness of the proposed stabilization conditions.