• Journal of information and communication convergence engineering
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• v.17 no.4
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• pp.255-260
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• 2019

A pendubot is a representative example of an underactuated system that has fewer actuators than the degree of freedom of the system. In this study, the characteristics of the pendubot are first reviewed; each part is then designed using Solidworks by dividing the pendubot into three parts: the base frame, first link frame, and second link frame. These three parts are then imported into the Simulink environment via a STEP file format, which is the standard protocol used in data exchange between CAD applications. A 3D model of the pendubot is then constructed using Simscape, and the usefulness of the 3D model is validated by a comparison with a dynamic equation derived using the Lagrangian formulation. A linearized model around an upright equilibrium position is finally obtained, and a sliding mode controller is designed based on the linear quadratic regulator. Simulation results showed that the designed controller effectively maintained upright balance of the pendubot in the presence of disturbance.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2004.10a
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• pp.239-242
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• 2004

In this paper, the general mathematical model of LRE(Liquid Rocket Engine) is presented. For the analysis about the trend of dynamics and the stability of open type LRE, it is transformed to linear model by Laplace transform and synthesized to the linear complex model of LRE with Matlab/Simulink.

• Nuclear Engineering and Technology
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• v.55 no.5
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• pp.1687-1707
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• 2023

This paper presents a molten salt reactor (MSR) design parameter sensitivity study using a nodal dynamic modelling methodology with explicitly modified point kinetics equation and Mann's model for heat transfer. Six parameters that can impact MSR safety are evaluated. A MATLAB-Simulink model inspired by Thorcon's 550MWth MSR is used for parameter evaluations. A safety envelope was formed to encapsulate power, maximum and minimum temperature, and temperature-induced reactivity feedback. The parameters are perturbed by ±30%. The parameters were then ranked by their subsequent impact on the considered safety envelope, which ranks acceptable parameter uncertainty. The model is openly available on GitHub.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.6
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• pp.511-518
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• 2013

To implement an automatic picking system (APS) in distribution center with high precision and high dynamics, this paper presents a design of a linear induction motor (LIM) drive and robust position controller based on integral variable structure control (IVSC) scheme. The force disturbance as well as the mechanical parameter variation such as the mass and friction coefficient gives a direct influence on the position control performance of APS. To guarantee a robust control performance in the presence of such uncertainty, a robust position controller is designed. A Simulink library is developed for the LIM model from the state equation. Through this model and comparative simulation based on Matlab - Simulink, it is proved that the proposed scheme has a robust control nature and is most suitable for APS.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.181-182
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• 2009

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.13 no.2
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• pp.9-14
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• 2013

Model based design method reduces product development period and increases system software safety. In this paper, a BLDC motor controller based on model based design method is designed with Simulink and implemented with auto generated code which is written in C language. To retain the safety of software, this model is implemented according to MISRA AC SLSF guide. The validity of the implemented controller is verified with a real position control experiment, and execution times of each control loops are measured to compare the system performance of the conventional design and the model based design.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.3
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• pp.1289-1301
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• 2011

In this paper, flux estimation method at the Induction motor is applied to stability flux estimate of possibility in overall speed domain. angle operation has voltage and current and speed information using the Induction motor direct control method. Induction motor direct control is material to flux information. Exact flux estimation method to using current model flux estimator of low-speed domain and voltage model flux estimator of high-speed domain. Speed and current and flux controller using PI controller. And error of integral requital for add to Anti-Windup PI controller. Verified to performance of Current model Flux controller and voltage model flux controller using Matlab / Simulink. Analysis has parameter influence of direct vector control and indirect vector control at the Induction motor vector control. So, verified to minute control. Analyzed to simulation result and proof to validity of presented algorithm.

• The Transactions of the Korean Institute of Power Electronics
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• v.16 no.2
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• pp.162-172
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• 2011

This paper proposes embedded System of two wheeled inverted pendulum robot designed by model based design method, using MATLAB/SIMULINK and LEGO NXT Mindstorms. At first, stability and performance of controller is verified through modeling and simulation. After that direct conversion from simulation model to C code is carried and effectiveness of controller is experimentally verified. Two wheeled inverted pendulum robot has basic function about autonomous balancing control using principle of inverted pedulum and it is also possible to arrive at destination. In this paper, state feedback controller designed by quadratic optimal control method is used. And quadratic optimal control uses state feedback control gain K to minimize performance index function J. Because it is easy to find gain, this control method can be used in the controller of two wheeled inverted pendulum robot. This proposed robot system is experimentally verified with following performances - balancing control, disturbance rejection, remote control, line following and obstacle avoidance.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.11
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• pp.5357-5365
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• 2013

In this paper, we propose that a model based design for a electric tractor system by using ASM(Automotive Simulation Models). Before developing a realistic electric tractor, it is essential that defining the capacities of power sources and optimizing the parameters of electric tractor. In additionally, because the electric tractor must have not only driving function but also working function, two PMSM are used at electric tractor. ASM which is based on simulink and Carsim were used to design a electric system and powertrain of electric tractor. For verifying the electric tractor system, we compared the design parameters such as max power, state of charge, drive distance, velocity which were carried out by the simulation and experimental method. The predicted results by the development model were in good agreement with the simulation results. According to simulation of tractor, it is possible to arrange the advanced research of dynamical characteristic of tractor and present the guidelines for the electrical driving system.

• Journal of Astronomy and Space Sciences
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• v.14 no.2
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• pp.386-394
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• 1997

In this study, a few of the modeling methods for flexible spacecraft were introduced and adopted to the modeling of a 3-axes stabilization satellite. The generated model was put into pre-built rigid body attitude control loop. A Lumped Parameter Model(Global Mode Model: GMM) was recommended for the absence of the Finite Element Method(FEM) model. Finally, GMM was compared with FEM in terms of designing a control filter. A 1st-order filter was designed to meet requirements of the controller since the new flexible model was applied, and that filter was added to motor controller and axis controller. MATLAB/Simulink was used as a tool for design and simulation of the control loop and filter.