• 드라이브 ㆍ 컨트롤
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• 제17권2호
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• pp.45-54
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• 2020

The IMV is a combination of four two-way valve systems which replace a conventional four-way spool valve to improve efficiency mostly in excavator hydraulics. As the environmental regulations for construction equipment have tightened, some overseas advanced companies have released commercial excavators in which the MCV is implemented with the IMVs. Development of the IMV type MCV relies on the control algorithm as well as the robust performance of proportional flow control valves. In this study, the IMV controller was designed and verified with experiments for the excavator working unit, which determines the IMV mode of operation and the extent of the valve opening in consideration of the load conditions on hydraulic actuators. First, the open-loop controller was designed with a joystick command vs. a PSV reference current map comprising several control parameters in to compensate for the different flow characteristics and non-linearities of two-way flow control valves. Second, the closed-loop controller was designed with the PI control fed by the actuator displacement and outputs actuator percent effort equivalent to the operator's joystick command. Finally, the performance of the IMV type MCV was verified with the trajectory control of position references derived from the energy consumption test standard. Experimental results showed the control performance of the IMV developed in this study, and suggest that future studies to be conducted to advance technical progress.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 A
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• pp.603-605
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• 1996

The SLIM used in the conveyance system has been generally developed the controller based on the slip frequency control and the VVVF method to obtain the quick response for the position control signal. This paper deals with the trust control of the SLIM by vector control with Bang-Bang condition. Also, the control system is composed of the PI controller for soft start of the SLIM and the q-axis current controller for correction in phase with Space Vector for reducing the harmonic pulsation in low speed. The processing for vector control and robust dynamic breaking control is carried out by MC80196KC micro processor and IGBT module. The proposed scheme is verified through the computer simulation and experiments for the 10KW SLIM.

• 전기학회논문지P
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• 제58권4호
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• pp.397-403
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• 2009

In this paper, an exciter current control of a synchronous generator for ships using a compound type digital automatic voltage regulator (DVAR) in order to provide a constant output voltage of the generator is presented. The compound type DAVR is composed of a controller part to adjust output voltage and an power source unit to supply power to the exciter. The controller part, which generates the PWM switching pattern via the PI controller, drives a power MOSFET for bypass to limit the SG's exciter current. The power source unit part is parallel connected to an output terminal of the generator through a reactor and a power CT. The residual magnetic flux of SG provides exciter current to the exciter through the reactor during the initial running or no load state and load current supplies field current to the exciter through the power CT during loading state. This paper confirmed an experiment to verify the validity of compound type DAVR system for controlling output voltage of synchronous generator.

• 대한기계학회논문집
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• 제11권6호
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• pp.923-934
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• 1987

본 연구에서는 유연한 로봇 조각기를 허브가 있는 첨단질량이 부착된 유연한 외팔보로 모델링하고 Hamilton의 원리에 의하여 유도된 운동방정식을 Galerkin의 모우 드 합 방접을 이용하여 유한차원화하여 상태방정식으로 표시하였다. 계를 제어 모우 드부(controlled mode part)와 잔류 모우드부(residual mode part)로 나누어 제어 모 우드부에 대해 최적제어 이론을 도입하여 귀환계수(feedback ccefficient)를 구하였으 며 측정이 불가능한 상태변수(inaccessible state)를 근사적으로 추정하기 위하여 Lu- enberger 관측기가 사용되었다.2차 성능계수(quadratic performance index)내의 입 력에 대한 가중치의 변화에 따른 제어효과 및 계의 여러 모우드중 중요 모우드만 제어 하는 제어기를 사용함에 따른 Spillover 효과가 계의 제어효과에 미치는 영향을 시뮬 레이션을 통하여 고찰하였으며, 또한 실험을 통하여 이론의 타당성을 검토하였다.

• 동력기계공학회지
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• 제14권2호
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• pp.34-39
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• 2010

Recently, technical trend for machine tools is focused on enhancement of speed and accuracy. High speedy processing causes thermal and structural deformation of objects from the machine tools. Water cooler has to be applied to machine tools to reduce the thermal negative influence with accurate temperature controlling system. Existing On-Off control type can't control temperature accurately because compressor is operated and stopped repeatedly and causes increment of power consumption and decrement of the expected life of compressor. The goal of this study is to minimize temperature error in steady state. In addition, control period of an electronic expansion valve were considered to increment of lifetime of the machine tools and quality of product with a water cooler. PI controller is designed using type of hot-gas bypass for precise control of temperature. Gain of PI is decided easily by method of critical oscillation response, excellent performance of control is shown with 4.24% overshoot and ${\pm}0.2^{\circ}C$error of steady state. Also, error range of temperature is controlled within $0.2^{\circ}C$although disturbance occurs.

• 전력전자학회논문지
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• 제5권2호
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• pp.123-129
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• 2000

본 논문은 실용화 보급단계에 있는 대표적인 대체에너지 전원으로서, 태양전지, 직·교류(DC/AC) 인버터, 전력계통으로 구성되는 계통연계형 태양광발전시스템의 설계 및 시험결과에 대하여 기술하고자 한다. 계통연계를 위한 시스템 특성을 검증하기 위해 3상 직·교류 인버터를 포함한 50kW 계통연계 태양광발전시스템이 설계 제작되었다. 또한 d-q 변환을 이용한 PI 제어기를 갖는 전류제어방식의 3상 PWM 인버터 제어기법이 제시되었다. 실험결과들은 제안된 시스템이 계통연계 동작에 있어서 단위 역율로 안정하게 동작함을 보여준다.

• 한국정밀공학회지
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• 제23권5호
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• pp.77-84
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• 2006

This paper describes the design and implementation of a robot's gripper control system. In order to safely grasp an unknown object using the robot's gripper, the gripper should detect the force of gripping direction and the force of gravity direction, and should perform the force control using the detected forces and the robot's gripper control system. In this paper, the robot's gripper control system is designed and manufactured using DSP(Digital Signal Processor), and the gripper is composed of two 6-axis force/moment sensors which measures the Fx force(force of x-direction), Fy force, Fz force, and the Mx moment(moment of x-direction), My moment, Mz moment at the same time. The response characteristic test of the system is performed to determine the proportional gain Kp and the integral gain Ki of PI controller. As a result, it is shown that the developed robot's gripper control system grasps an unknown object safely.

• Advances in Energy Research
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• 제1권2호
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• pp.97-106
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• 2013

This study designs and tests a photovoltaic system with distributed maximum power point tracking (DMPPT) methodology using a field programmable gate array (FPGA) controller. Each solar panel in the distributed PV system is equipped with a newly designed DC/DC converter and the panel's voltage output is regulated by a FPGA controller using PI control. Power from each solar panel on the system is optimized by another controller where the quadratic maximization MPPT algorithm is used to ensure the panel's output power is always maximized. Experiments are carried out at atmospheric insolation with partial shading conditions using 4 amorphous silicon thin film solar panels of 2 different grades fabricated by Chi-Mei Energy. It is found that distributed MPPT requires only 100ms to find the maximum power point of the system. Compared with the traditional centralized PV (CPV) system, the distributed PV (DPV) system harvests more than 4% of solar energy in atmospheric weather condition, and 22% in average under 19% partial shading of one solar panel in the system. Test results for a 1.84 kW rated system composed by 8 poly-Si PV panels using another DC/DC converter design also confirm that the proposed system can be easily implemented into a larger PV power system. Additionally, the use of NI sbRIO-9642 FPGA-based controller is capable of controlling over 16 sets of PV modules, and a number of controllers can cooperate via the network if needed.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2005년도 전력전자학술대회 논문집
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• pp.336-339
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• 2005

This paper presents a PM type BLDC(Brushless DC) Motor servo drive system using high performance DSP TMS320F2812. The DSP controller with 150MIPS enables an enhanced real time implementation and increased efficiency and high performance for motor drive. The suggested drive system consists of PI action for the constant speed control and PID action for the current control with only 3 Halls, no encoders. The developed servo drive control system shows a good response speed characteristics at high speed up to 10000 [rpm].

• 한국정보전자통신기술학회논문지
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• 제14권4호
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• pp.284-291
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• 2021

본 논문은 입력포화가 존재하는 다중 에이전트 시스템의 일치 문제를 연구한다. 일치 제어의 목표는 에이전트들이 정보교환을 통하여 그룹의 목표 상태로 일치되도록 함으로써 다중 에이전트 시스템의 군집 행동을 얻는 것이다. 본 논문에서는 입력포화가 존재하는 1차 역학에 의해 모델링된 에이전트 시스템들을 고려한다. 에이전트들의 전역적인 수렴성 보장을 위하여 에이전트들이 안정하다는 가정을 한다. 또한, 외란을 고려하여 일치를 달성하기 위한 PI(비례-적분) 기반의 이종 제어기법을 제안한다. 즉, 제안된 P제어기와 I제어기는 서로 다른 정보 네트워크로 구성된다. 다음으로 리아프노프 안정성 이론과 라살레 불변 법칙을 적용하여 일치를 달성하기 위한 P, I 제어기의 정보 네트워크 구성과 제어이득의 조건을 조사한다. 마지막으로 이론적 결과를 검증하기 위하여 시뮬레이션을 수행한다.