• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.758-765
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• 2015

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

• Journal of Ocean Engineering and Technology
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• v.29 no.6
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• pp.488-498
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• 2015

This paper presents the dynamic model of an AUV called HW200 for underwater surveillance. The mathematical model of HW200 is briefly introduced, considering its shape. The maneuvering coefficients were initially estimated using empirical formulas and a database of vehicles with similar shapes. A motion simulator, based on Simulink of Mathworks, was developed to evaluate the mathematical model of the vehicle and to tune the maneuvering coefficients. The parameters were finely tuned by comparing the experimental results and simulated responses generated with the simulator by applying the same control inputs as the experiment. The velocity of HW200 in the tuning process was fixed at a constant forward speed of 1.83 m/s. Simulations with variable speed commands were conducted, and the results showed good consistency in the motion response, attitude, and velocity of the vehicle, which were similar to those of the experiment even under the speed variation. This paper also discusses the feasibility of its application to a model-based integrated navigation system (INS) using the auxiliary information on the velocities generated by the model.

• Journal of Electrical Engineering and Technology
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• v.7 no.1
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• pp.1-8
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• 2012

The current paper presents a novel control strategy of a three-phase, four-wire Unified Power Quality (UPQC) to improve power quality. The UPQC is realized by the integration of series and shunt active power filters (APF) sharing a common dc bus capacitor. The realization of shunt APF is carried out using a three-phase, four-leg Voltage Source Inverter (VSI), and the series APF is realized using a three-phase, three-leg VSI. To extract the fundamental source voltages as reference signals for series APF, a zero-crossing detector and sample-and-hold circuits are used. For the control of shunt APF, a simple scheme based on the real component of fundamental load current (I $Cos{\Phi}$) with reduced numbers of current sensors is applied. The performance of the applied control algorithm is evaluated in terms of power-factor correction, source neutral current mitigation, load balancing, and mitigation of voltage and current harmonics in a three-phase, four-wire distribution system for different combinations of linear and non-linear loads. The reference signals and sensed signals are used in a hysteresis controller to generate switching signals for shunt and series APFs. In this proposed UPQC control scheme, the current/voltage control is applied to the fundamental supply currents/voltages instead of fast-changing APF currents/voltages, thus reducing the computational delay and the required sensors. MATLAB/Simulink-based simulations that support the functionality of the UPQC are obtained.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.35 no.11
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• pp.1243-1248
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• 2011

The purposes of this study were to develop a dynamic model of a human and to investigate the effect of a walker on an elderly subject's motions, such as sit-to-stand (STS) motion and normal gait, by using this model. A human model consisting of 15 segments and 14 joints was developed, embedded in $RecurDyn^{TM}$, and connected through a Simulink$^{(R)}$ interface with collected motion data. The model was validated by comparisons between joint kinematic results from inverse dynamics (Matlab$^{(R)}$-based in-house program) and from $RecurDyn^{TM}$ simulation during walking. The results indicate that the elderly walker induced a longer movement time in walking, such that the speed of joint flexion/extension was slower than that during a normal gait. The results showed that the muscle activities of parts of the ankle and hamstring were altered by use of the elderly walker. The technique used in this study could be very helpful in applications to biomechanical fields.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.44 no.5
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• pp.76-84
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• 2007

In this paper, we measured the propagation characteristics of I-UWB channel in time domain and in frequency domain. The measurements carried out in apartment environment while furniture and household electric appliance. Typical indoor scenarios, including line-of-sight(LOS), non-line-of-sight(NLOS) in room-to-room, within-the-room. A transmitting and receiving antenna is a biconical antenna. Results for indoor propagation measurements are presented for power delay profiles(PDP). We extracted the channel characteristic parameters from a power delay profile. Finally, we designed I-UWB channel model in indoor environment, and I-UWB simulator. The results of simulation shows BER characteristics below $10^{-5}$ for SNR over 20[dB].

• Journal of Auto-vehicle Safety Association
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• v.5 no.1
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• pp.44-49
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• 2013

This paper presents a lateral collision risk index between an ego vehicle and a rear-side vehicle. The lateral collision risk is designed to represent a lateral collision risk and provide the appropriate threshold value of activation of the lateral collision management system such as the Blind Spot Detection(BSD). The lateral collision risk index is designed using the Time to Line Crossing(TLC) and the longitudinal collision index at the predicted TLC. TLC and the longitudinal collision index are calculated with the signals from the exterior sensor such as the radar equipped on the rear-side of a vehicle and a vision sensor which detects the distance and time to the lane departure. For the robust situation assessment, the perception of driving environment determining whether the road is straighten or curved should be determined. The relative motion estimation method has been proposed with the road information via the integrated estimator using the environment sensors and vehicle sensor. A lateral collision risk index was composed with the estimated relative motion considering the relative yaw angle. The performance of the proposed lateral collision risk index is investigated via computer simulations conducted using the vehicle dynamics software CARSIM and Matlab/Simulink.

• Journal of the Society of Naval Architects of Korea
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• v.54 no.2
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• pp.102-112
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• 2017

Many studies on dynamic positioning control algorithms using fixed feedback gains have been carried out to improve station keeping performance of dynamically positioned vessels. However, the control algorithms have disadvantages in that it can not cope with changes in environmental disturbances and response characteristics of vessels motion in real time. In this paper, the Fuzzy Gain Scheduling - PID(FGS - PID) control algorithm that can tune PID gains in real time was proposed. The FGS - PID controller that consists of fuzzy system and a PID controller uses weighted values of PID gains from fuzzy system and fixed PID gains from Ziegler - Nichols method to tune final PID gains in real time. Firstly, FGS - PID controller, control allocation algorithm, FPSO and environmental disturbances were modeled using Matlab/Simulink to evaluate station keeping performance of the proposed control algorithm. In addition, simulations that keep positions and a heading angle of vessel with wind, wave, current disturbances were carried out. From simulation results, the FGS - PID controller was confirmed to have better performances of keeping positions and a heading angle and consuming power than those of the PID controller. As a consequence, the proposed FGS - PID controller in this paper was validated to have more effectiveness to keep position and heading angle than that of PID controller.

• Journal of the Korean Solar Energy Society
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• v.37 no.3
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• pp.47-59
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• 2017

As the global warming threats to humanity, renewable energy is considered the key solution to overcome the climate change. In this circumstance, distributed PV systems are being expanded significantly its market share in the renewable energy industry. The performance of inverter is the most important component at PV system and numerous researches are focusing on it. In order to improve the inverter, PV simulator is an essential device to experiment under various load and conditions. This paper proposes the PV Power-Hardware-In-Loop simulator (PHILS) with real-time processing converted electrical and mathematical models to improve computation speed. Single-diode PV model is used in MATLAB/SIMULINK for the PV PHILS to boosting computation speed and dynamic model accuracy. In addition, control algorithms for sub-components such as DC amplifier, measurement device and several interface functions are implemented in the model. The proposed PV PHILS is validated by means of experiments with commercial PV module parameters.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.168-180
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• 2018

In order to achieve the high quality output voltage of single-phase voltage source inverters, in this paper an Adaptive Complementary Sliding Mode Control (ACSMC) is proposed. Firstly, the dynamics model of the single-phase inverter with lumped uncertainty including parameter variations and external disturbances is derived. Then, the conventional Sliding Mode Control (SMC) and Complementary Sliding Mode Control (CSMC) are introduced separately. However, when system parameters vary or external disturbance occurs, the controlling performance such as tracking error, response speed et al. always could not satisfy the requirements based on the SMC and CSMC methods. Consequently, an ACSMC is developed. The ACSMC is composed of a CSMC term, a compensating control term and a filter parameters estimator. The compensating control term is applied to compensate for the system uncertainties, the filter parameters estimator is used for on-line LC parameter estimation by the proposed adaptive law. The adaptive law is derived using the Lyapunov theorem to guarantee the closed-loop stability. In order to decrease the control system cost, an inductor current estimator is developed. Finally, the effectiveness of the proposed controller is validated through Matlab/Simulink and experiments on a prototype single-phase inverter test bed with a TMS320LF28335 DSP. The simulation and experimental results show that compared to the conventional SMC and CSMC, the proposed ACSMC control strategy achieves more excellent performance such as fast transient response, small steady-state error, and low total harmonic distortion no matter under load step change, nonlinear load with inductor parameter variation or external disturbance.

• Journal of Electrical Engineering and Technology
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• v.13 no.5
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• pp.1886-1900
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• 2018

This paper proposes a confronting feedback control structure and controllers for positive output elementary super lift Luo converters (POESLLCs) working in discontinuous conduction mode (DCM). The POESLLC offers the merits like high voltage transfer gain, good efficiency, and minimized coil current and capacitor voltage ripples. The POESLLC working in DCM holds the value of not having right half pole zero (RHPZ) in their control to output transfer function unlike continuous conduction mode (CCM). Also the DCM bestows superlative dynamic response, eliminates the reverse recovery troubles of diode and retains the stability. The proposed control structure involves two controllers respectively to control the voltage (outer) loop and the current (inner) loop to confront the time-varying ON/OFF characteristics of variable structured systems (VSSs) like POESLLC. This study involves two different combination of feedback controllers viz. the proportional integral controller (PIC) plus sliding mode controller (SMC) and the fuzzy logic controller (FLC) plus SMC. The state space averaging modeling of POESLLC in DCM is reviewed first, then design of PIC, FLC and SMC are detailed. The performance of developed controller combinations is studied at different working states of the POESLLC system by MATLAB-Simulink implementation. Further the experimental corroboration is done through implementation of the developed controllers in PIC 16F877A processor. The prototype uses IRF250 MOSFET, IR2110 driver and UF5408 diodes. The results reassured the proficiency of designed FLC plus SMC combination over its counterpart PIC plus SMC.