• The Transactions of the Korean Institute of Power Electronics
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• v.8 no.4
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• pp.366-374
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• 2003

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a re-adhesion control algorithm which uses the maximum adhesive effort by instantaneous estimation of adhesion force using load torque disturbance observer. Based on this estimated adhesive effort, the re-adhesion control Is peformed to obtain the maximum transfer of the tractive effort.

• Journal of the Korean Society for Railway
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• v.10 no.1 s.38
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• pp.51-56
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• 2007

In this paper, control schemes are developed for a propulsion system(Converter/Inverter) in electrical train. A robust controller for PWM converter is proposed. The converter controller consists of a PI controller for DC output voltage and a current controller using error-space approach for maintaining the sinusoidal current waveform and unity power factor. This proposed method is based on characteristic ratio assignment(CRA) method which has the advantage to design the optimal gain to meet the referenced response and overshoot within the limit range. Inverter system is controlled by vector control and slip frequency control. At low speed region, vector control scheme is applied to control instantaneous torque and slip frequency control is performed under overmodulation region and one pulse mode. Because output voltage of converter contains harmonics ripple at twice input ac line frequency, control scheme is developed to reduce the pulsating torque current. The performance of propulsion system will be verified by simulation and prototype experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.3 s.96
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• pp.109-115
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• 1999

This paper presents a stabilization control designed to improve position stabilization performance of a position servo-system(turret) mounted on a manuvering platform(vehicle). In the consideration of the motion of the platform, a dynamic model of the stabilization system is derived and shows the viscous and stick-slip friction torques are the major source of stabilization errors. An extended generalized minimum variance control which consists of a feedforward disturbance compensation as well as a pole placement feedback control is suggested to reduce the stabilization errors caused from the friction disturbances. This modeling and control are applied to a small experimental set-up and the experimental results confirm the accuracy of the model and the effectiveness of the suggested control.

• Journal of Bio-Environment Control
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• v.25 no.3
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• pp.193-199
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• 2016

The research discussed experimental results on slip resistance force of rafter-purlin connection of plastic greenhouse and suggested a test method for evaluating slip resistance performance of the connection. Slip resistance forces were measured by four kinds of constraint conditions for specimens, for example, fixing or rolling the end of specimen. According to tests, it is noticed that constraint condition is able to significantly affect the slip resistance force. From a post-hoc comparison result, slip resistance force of test under fixing ends condition was larger than those under the other three constraint conditions. But the slip resistance force results in the fixing ends condition had greater measure of dispersion and three times of standard deviation than those from other constraint conditions. Based on the results obtained, effect of constraint condition for specimen on the slip test should be studied to enhance reliability of evaluation test of the slip resistance performance.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.3
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• pp.302-309
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• 2016

Urea-SCR system is currently regarded as promising NOx reduction technology for diesel engines. SCR system has to achieve maximal NOx conversion in combination with minimal $NH_3$ slip. In this study, model based open loop control for urea injection was developed and assessed in the European Transient Cycle (ETC) for heavy duty diesel engine. On the basis of the transient modeling, the kinetic parameters of the $NH_3$ adsorption and desorption are calibrated with the experimental results performed over the zeolite based catalyst. $NH_3$ storage or surface coverage of SCR catalyst can not be measured directly and has to be calculated, which is taken into account as a control parameter in this model. In order to reduce $NH_3$ slip while maintaining NOx reduction, $NH_3$ storage control algorithm was applied to correct the basic urea quantity. If the actual $NH_3$ surface coverage is higher than the maximal $NH_3$ surface coverage, the urea injection quantity is significantly reduced in the ETC cycle. By applying this logic, the resulting $NH_3$ slip peak can be avoided effectively. With optimizing the kinetic parameters based on standard SCR reaction, it suggests that a simplified, less accurate model can be effective to evaluate the capability of model based control in the ETC cycle.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.8
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• pp.431-439
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• 1999

Among the variable-speed AC motor drive systems, the static slip power recovery system has been widely adopted in large power drives because a high efficiency drive can be obtained by recovering the slip power to the AC line. Although many improvements have been made in this system, several problems also remain such as the need of transformer in inverter AC side, which results in limiting speed control range and increasing the losses, production of reactive power by the control of inverter firing angle, harmonics in line currents, and so on. This paper presents the novel high performance slip power recovery system using the boost converter and small size filter in the rotor circuit, which recovers slip power of a wound rotor induction machine to AC supply efficiently with the aid of the boost converter, in which most of the problems in conventional system can be solved. The speed can be controlled by the duty ratio of the converter switch, not by inverter firing angle. As a results, the proposed system can operate in high power factor and the harmonic currents caused by the inverter and rectifier can be considerably suppressed. The validity of the proposed system verified by demonstrating the good agreement in the simulation and experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.161-167
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• 2006

In this paper, lateral force control of a mobile robot with slip is presented. First, the bicycle model of a mobile robot is derived for the front steering. Second, impedance force control algorithm is applied to regulate contact force with environment. The desired distance is specified conservatively inside the environment to guarantee to make contact. Different stiffness of environment has been tested for force tracking task. Simulation results show that the proposed control algorithm works well to maintain desired contact force on the environment.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.6
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• pp.40-48
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• 2013

Recently, many types of electric vehicles including a heavy duty vehicle have been developed and released because of the better fuel economy and less gas products. In this study, research about an electric bus which utilizes the wheel motor drive system was conducted. The wheel motor is a motor connected to the wheel directly only with a simple gear so that the developer can utilize the space efficiently and the whole system efficiency will be better because of simple structure. However, because it is different from former types of vehicles which use the differential gear, the development of the integrated control logic is required in order to meet the vehicle stability and driving performance. The developed control logic is composed with direct yaw moment control, regenerative braking control and slip control logics. It is compared to the control logics which does not consist of direct yaw moment control and slip control when the vehicle is exposed in tough situations. For the unification of the control logic, a few maps were developed and applied to determine the output torque of each motor according to the driving status. As a result, it is shown that the developed control logic is more safe and well follow the target speed than the other control logic applied simulations.

• Journal of Korea Technical Association of The Pulp and Paper Industry
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• v.37 no.3
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• pp.33-40
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• 2005

In this study, a nano-colloidal silica sol was applied to control the anti-slip property by spraying on kraft paper. Two kinds of nano-colloidal silica sol which have cationic and anionic charge were applied in kraft paper, and the friction and physical strength properties of kraft paper were investigated. The application of colloidal silica sol on wet web in wet-end process by spraying method was tried to improve the friction property and to avoid the general problems of machine contaminations caused by the scattering of sprayed silica particles in dryer part. The physical properties of sheet were also improved by the application of wet web spraying method, and the optimum conditions of wet web spraying operation were closely related with the conditions of pH and electrical charge of wet web and silica sol.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.306-313
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• 1999

To measure the accurate position of mobile robot, dead-reckoning method using the encoder attached to each wheel is conventionally used, since it is easy to compute and inexpensive to develop. However, that method is useless when slip occurs and error is accumulated with time. This paper proposes a position estimation method using encoder trailer composed of 2 encoders only(ET-2). This method provides accurate position information even when slip occurs, and can reduce accumulated error if we select the proper link lengths of encoder trailer. Experimental results show the performance of ET-2 when slip occurs. Finally, accumulated systematic error from encoder resolution is analyzed in comparison with an existing method with encoder trailer composed of 3 encoders. (As a matter of convenience, we will call the existing encoder trailer ‘ET-3’)