• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.233-239
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• 2020

The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop a controller for autonomous agricultural robot that transforming their dynamic characteristics by installation of machine modules. So we develop for the model based control algorithm of rotary machine connected to agricultural robot. Autonomous control algorithm of agricultural robot consists of the path control, velocity control, orientation control. To verify the developed algorithm, we used to analytical techniques that have the advantage of reducing development time and risks. The model is formulated based on the multibody dynamics methods for high accuracy. Their model parameters get from the design parameter and real constructed data. Then we developed the co-simulation that is combined between the multibody dynamics model and control model using the ADAMS and Matlab simulink programs. Using the developed model, we carried out various dynamics simulation in the several rotation speed of blades.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.33 no.8
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• pp.596-603
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• 2009

The performance of proton exchange membrane fuel cell (PEMFC) is seriously changed by the humidification condition which is intrinsic characteristics of the PEMFC. Typically, the humidification of fuel cell is carried out with internal or external humidifier. A membrane humidifier is applied to the external humidification of residential power generation fuel cell due to its convenience and high performance. In this study, a simple static model is constructed to understand the physical phenomena of the membrane humidifier in terms of geometric parameters and operating parameters. The model utilizes the concept of shell and tube heat exchanger but the model is also able to estimate the mass transport through the membrane. Model is constructed with FORTRAN under Matlab/$Simulink^{(R)}$ $\Box$environment to keep consistency with other components model which we already developed. Results shows that the humidity of wet gas and membrane thickness are critical parameters to improve the performance of the humidifier.

• Journal of Drive and Control
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• v.16 no.2
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• pp.22-29
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• 2019

This study presented a model predictive tracking control algorithm of autonomous truck based on object state estimation using extended Kalman filter. To design the model, the 1-layer laser scanner was used to estimate position and velocity of the object using extended Kalman filter. Based on these estimations, the desired linear path for object tracking was computed. The lateral and yaw angle errors were computed using the computed linear path and relative positions of the truck. The computed errors were used in the model predictive control algorithm to compute the optimal steering angle for object tracking. The performance evaluation was conducted on Matlab/Simulink environments using planar truck model and actual point data obtained from laser scanner. The evaluation results showed that the tracking control algorithm developed in this study can track the object reasonably based on the model predictive control algorithm based on the estimated states.

• Journal of Power Electronics
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• v.11 no.2
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• pp.173-178
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• 2011

In order to verify the performance of brushless DC (BLDC) motors, the simulation method has been widely used. The current of a BLDC motors flows on two phase windings to obtain a constant torque. However, the freewheeling current caused by the inductance component of a BLDC motor exists at the commutation point so that the current can flow on three phase windings at the same time. Due to the changes of the excited phases, the model equations are frequently changed during BLDC motor drive operation. The model equations can be also changed by the applied switching pattern since the current path in the inverter circuit changes according to switching pattern. A BLDC motor system can utilize various switching patterns for many different purposes. However, such changes of the model equations complicate the simulation procedure. In this paper, the technique to set up model equations is proposed to ease the simulation of a BLDC motor system through an inverter circuit analysis. The proposed technique will be verified using the C language. Although this method does not provide the level of detail obtainable from commercial simulation tools like PSIM or SIMULINK, it can provide an efficient way to quickly compare various conditions.

• Journal of Electrical Engineering and Technology
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• v.8 no.5
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• pp.975-983
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• 2013

This study proposes a low order dynamic model of a building system in order to predict thermal behavior within a building and its energy consumption. The building system includes a thermally well-insulated room and an electric heater. It is modeled by a second order lumped RC thermal network based on the thermal-electrical analogy. In order to identify unknown parameters of the model, an experimental procedure is firstly detailed. Then, the different linear parametric models (ARMA, ARX, ARMAX, BJ, and OE models) are recalled. The parameters of the parametric models are obtained by the least square approach. The obtained parameters are interpreted to the parameters of the physically based model in accordance with their relationship. Afterwards, the obtained models are implemented in Matlab/Simulink(R) and are evaluated by the mean of the sum of absolute error (MAE) and the mean of the sum of square error (MSE) with the variable of indoor temperature of the room. Quantities of electrical energy and converted thermal energy are also compared. This study will permit a further study on Model Predictive Control adapting to the proposed model in order to reduce energy consumption of the building.

• Journal of international Conference on Electrical Machines and Systems
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• v.1 no.2
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• pp.18-22
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• 2012

This paper presents a method and the experimental measurement system for the determination of Jiles-Atherton model parameters of the 30ZH120 electrical steel sheet. The paper utilizes Epstein Square devices to proceed with the experiment and measurement on a group of hysteresis loops of some certain transformers which use the 30ZH120 electrical steel sheet under two different lap ways. The approach relies on the simulated annealing optimization method in order to minimize the error between the measured and modeled hysteresis curves and yield the best five Jiles-Atherton model parameters. A convenient program, based on the Simulink platform, that can identify the J-A model parameters automatically from the experimental saturated hysteresis loop which is used to model the nonlinear characteristics of the electrical steel sheet, is developed. Research shows that the simulated annealing optimization method gets satisfactory results.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.11
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• pp.541-549
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• 2001

The term 'silent period(SP)' refers to a transitory, relative or absolute decrease electromyography(EMG) activity, evoked in the midst of an otherwise sustained contraction. Masseteric SP is elicited by a tap on the chin during isometric contraction of masseter muscle. In this paper, a new EMG signal generation model including SP in masseter muscle is proposed. This work is based on the anatomical structure of trigeminal nerve system that related on temporomandibular joint(TMJ) dysfunction. And it was verified by comparing the real EMG signals including SP in masseter muscle to the simulated signals by the proposed model. Through this studies, it was shown that SP has relation to variable neurophysiological phenomena. A proposed model is based on the control system theory and DSP(Digital Signal Processing) theory, and was simulated using MATLAB simulink. As a result, the proposed SP model generated EMG signals which are similar to real EMG signal including normal SP and an abnormal extended SP. This model can be applied to the diagnosis of TMJ dysfunction and can effectively explain the origin of extended SP.

• Journal of Power Electronics
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• v.13 no.3
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• pp.429-436
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• 2013

Online simulations are utilized to reduce time and cost in the development and performance optimization of plug-in hybrid electric vehicle (PHEV) and electric vehicles (EV) systems. One of the most important factors in an online simulation is the accuracy of the model. In particular, a model of a battery should accurately reflect the properties of an actual battery. However, precise dynamic modeling of high-capacity battery systems, which significantly affects the performance of a PHEV, is difficult because of its nonlinear electrochemical characteristics. In this study, a dynamic model of a high-capacity battery cell for a PHEV is developed through the extraction of the equivalent impedance parameters using electrochemical impedance spectroscopy (EIS). Based on the extracted parameters, a battery cell model is implemented using MATLAB/Simulink, and charging/discharging profiles are executed for comparative verification. Based on the obtained results, the model is optimized for a high-capacity battery cell for a PHEV. The simulation results show good agreement with the experimental results, thereby validating the developed model and verifying its accuracy.

• Journal of Power Electronics
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• v.13 no.6
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• pp.1080-1089
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• 2013

In this paper, the superposition principle of a heat sink temperature rise is verified based on the mathematical model of a plate-fin heat sink with two mounted heat sources. According to this, the distributed coupling thermal impedance matrix for a heat sink with multiple devices is present, and the equations for calculating the device transient junction temperatures are given. Then methods to extract the heat sink thermal impedance matrix and to measure the Epoxy Molding Compound (EMC) surface temperature of the power Metal Oxide Semiconductor Field Effect Transistor (MOSFET) instead of the junction temperature or device case temperature are proposed. The new thermal impedance model for the power converters in Switched Reluctance Motor (SRM) drivers is implemented in MATLAB/Simulink. The obtained simulation results are validated with experimental results. Compared with the Finite Element Method (FEM) thermal model and the traditional thermal impedance model, the proposed thermal model can provide a high simulation speed with a high accuracy. Finally, the temperature rise distributions of a power converter with two control strategies, the maximum junction temperature rise, the transient temperature rise characteristics, and the thermal coupling effect are discussed.

• Structural Engineering and Mechanics
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• v.71 no.6
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• pp.683-697
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• 2019

The reinforced concrete (RC) structures usually suffer large residual displacements under strong motions. The large residual displacements may substantially reduce the anti-seismic capacity of structures during the aftershock and increase the difficulty and cost of structural repair after an earthquake. To reduce the adverse residual displacement, several self-centering energy dissipation braces (SCEBs) have been proposed to be installed to the RC structures. To investigate the seismic responses of the RC structures with SCEBs under the earthquake excitation, an extended Bouc-Wen model with degradation and self-centering effects is developed in this study. The extended model realized by MATLAB/Simulink program is able to capture the hysteretic characteristics of the RC structures with SCEBs, such as the energy dissipation and the degradation, especially the self-centering effect. The predicted hysteretic behavior of the RC structures with SCEBs based on the extended model, which used the unscented Kalman filter (UKF) for parameter identification, is compared with the experimental results. Comparison results show that the predicted hysteretic curves can be in good agreement with the experimental results. The nonlinear dynamic analyses using the extended model are then carried out to explore the seismic performance of the RC structures with SCEBs. The analysis results demonstrate that the SCEB can effectively reduce the residual displacements of the RC structures, but slightly increase the acceleration.