• Journal of Electrical Engineering and Technology
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• 제11권6호
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• pp.1802-1811
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• 2016

A novel battery SOH estimation algorithm based on outlier detection has been presented. The Battery state of health (SOH) is one of the most important parameters that describes the usability state of the power battery system. Firstly, a battery system model with lifetime fading characteristic was established, and the battery characteristic parameters were acquired from the lifetime fading process. Then, the outlier detection method based on angular distribution was used to identify the outliers among the battery behaviors. Lastly, the functional relationship between battery SOH and the outlier distribution was obtained by polynomial fitting method. The experimental results show that the algorithm can identify the outliers accurately, and the absolute error between the SOH estimation value and true value is less than 3%.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.186-190
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• 1989

A Study for Bad Data Processing in state estimation by a Neural Network is presented. State estimation is the process of assigning a value to an unknown system state variable based on measurement from that system according to some criteria. In this case, the ability to detect and identify bad measurements is extremely valuable, and much time in oder to achieve the state estimation is needed. This paper proposed new bad data processing using Neural Network in order to settle it. The concept of neural net is a parallel distributed processing. In this paper, EBP (Error Back Propagation) algorithm based on three layered feed forward network is used.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 추계학술대회 논문집 학회본부
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• pp.182-185
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• 1996

The purpose of slate estimation in power system is to estimate the best-fit Slate variables from the measurements contaminated by various kind of noise. But because the majority of state estimation modules in EMS lack the convergence characteristics, sometimes the desirable outputs can't be obtained. So, in this paper, the new algorithm using the load now output as initial values in the state estimation calculation is proposed to guarantee the convergence. And if the load now outputs were used as the initial values in the calculation, the change in each step would be small compared to the original method using the flat start point. And the Inverse Lemma is used in the algorithm to calculate the new stale in each iteration step for reducing the calculation time. The proposed algorithm was tested on the IEEE 14, 30, 118 bus systems. Eventually, we were able to verity that the differences between the results obtained by the original method and proposed method were relatively small, and the effectiveness of the proposed algorithm increased when applied to the bigger systems.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.165-171
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• 2006

This paper proposes a data fusion algorithm of nonlinear multi sensor dynamic systems of synchronous sampling based on filtering step by step. Firstly, the object state variable at the next time index can be predicted by the previous global information with the systems, then the predicted estimation can be updated in turn by use of the extended Kalman filter when all of the observations aiming at the target state variable arrive. Finally a fusion estimation of the object state variable is obtained based on the system global information. Synchronously, we formulate the new algorithm and compare its performances with those of the traditional nonlinear centralized and distributed data fusion algorithms by the indexes that include the computational complexity, data communicational burden, time delay and estimation accuracy, etc.. These compared results indicate that the performance from the new algorithm is superior to the performances from the two traditional nonlinear data fusion algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.192-192
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• 2000

In this paper, a platoon merging is considered as a remote-controlled system with the state represented by a stochastic process. In this system, it becomes to encounter situations where a single decision maker controls a large number of subsystems, and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike classical estimation problem in which the observation is a continuous process corrupted by additive noise, there is a constraint that the observation must be coded and transmitted over a digital communication channel with finite capaci쇼. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. Using the coder-estimator sequence, the remote control station designs a feedback controller. In this paper, we introduce a stochastic model for the lead vehicle in a platoon of vehicles considering the angle between a road surface and a horizontal plane as a stochastic process. The simulation results show that the inter-vehicle distance and the deviation from the desired inter-vehicle distance are well regulated.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 A
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• pp.286-288
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• 2004

The design of a measurement system to perform Harmonic State Estimation (HSE) is a very complex problem. In particular, the number of harmonic instruments available is always limited. Therefore, a systematic procedure is needed to design the optimal placement of measurement points. This paper presents a new HSE algorithm which is based on an optimal placement of measurement points using Genetic Algorithms (GAs). This HSE has been applied to the Simulation Test Power System for the validation of the new HSE algorithm. The study results have indicated an economical and effective method for optimal placement of measurement points using Genetic Algorithms (GAs) in the Harmonic State Estimation (HSE).

• 대한전기학회논문지:시스템및제어부문D
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• 제55권11호
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• pp.483-490
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• 2006

When the nonlinearities, such as friction and backlash, are not considered in the controller design, undesirable oscillations can occur in the steady-state response of a control system. This paper deals with a method to reduce oscillations that often appear in the steady-state response of a pendulum system, which is controlled by a state feedback controller based on the linearized system model. With an assumption that the oscillations shown in the steady-state are caused by the Coulomb friction, we improve the performance of stabilization and tracking by estimating and compensating for the Coulomb friction in the pendulum system. Experimental results show that the control performance can be improved sufficiently by the proposed method, when it is applied to an inverted cart pendulum which is a multi-variable unstable system. Furthermore, we could see that the Coulomb friction model used in the estimation of the friction is valid in applying the suggested method.

• 한국항행학회논문지
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• 제16권6호
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• pp.1123-1133
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• 2012

논문에서는 극저속 영역 및 저속 영역에서 안정적이고 동특성이 우수한 벡터제어 시스템을 구성하여, 축소차원 상태관측기를 이용한 순시속도 관측기와 극 저속 제어, 회전자 속도를 추정하는 벡터제어 시스템에 관한 방법을 제안하였다. 본 시스템에서 제안된 관측기는 축소차원 상태관측기를 부하토크 추정에 적용하여 속도추정에 이용함으로서 시스템구성을 간단히 구현 하면서도 극 저속 영역에서 정확한 순시속도 추정이 가능하였다. 또한, 시스템 잡음에 의한 영향을 줄이고, 관측기의 극을 변화시키는 일 없이 부하외란 이나 모델화 오차, 측정 잡음 등에 강인한 유도전동기 속도제어 시스템을 제시하였다.

• 전기전자학회논문지
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• 제22권3호
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• pp.754-758
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• 2018

전력계통에서 해석 하는 방법종류로 정적해석과 동적해석 그리고 온라인 해석과 오프라인 해석으로 나뉜다. 기존의 계통 해석하는 방법으로는 오프라인 정적해석을 이용하며 PSS/E에서도 정적해석을 주로 사용한다. 하지만 우리가 사용하고 있는 실제 계통에서는 실시간으로 값이 변한다. 정확한 해석을 하기 위해 실시간으로 해석이 가능한 온라인 해석과 동적해석이 요구되며 이에 따라 EMS(Energy Management System)에 대한 중요도가 높아지고 있다. 본 논문에서는 다양한 EMS시스템 중에서도 실시간으로 취득 점으로부터 데이터를 받아와 해석 할 수 있는 정적 온라인 해석인 상태추정을 다룰 것이다. 오늘날 DC부하, DC배전망, 신재생에너지 등 다양한 분야에서 DC계통이 확산되고 있다. 이처럼 DC계통에 많은 관심과 이목이 집중되고 있다. 본 논문에서는 DC계통에 접목시킬 수 있는 상태추정에 대한 해석과 사례연구를 통한 사용가능성에 대해 연구하였다.

• 자동차안전학회지
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• 제13권4호
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• pp.14-19
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• 2021

This paper presents LiDAR static obstacle map based vehicle dynamic state estimation algorithm for urban autonomous driving. In an autonomous driving, state estimation of host vehicle is important for accurate prediction of ego motion and perceived object. Therefore, in a situation in which noise exists in the control input of the vehicle, state estimation using sensor such as LiDAR and vision is required. However, it is difficult to obtain a measurement for the vehicle state because the recognition sensor of autonomous vehicle perceives including a dynamic object. The proposed algorithm consists of two parts. First, a Bayesian rule-based static obstacle map is constructed using continuous LiDAR point cloud input. Second, vehicle odometry during the time interval is calculated by matching the static obstacle map using Normal Distribution Transformation (NDT) method. And the velocity and yaw rate of vehicle are estimated based on the Extended Kalman Filter (EKF) using vehicle odometry as measurement. The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment, and is verified with data obtained from actual driving on urban roads. The test results show a more robust and accurate dynamic state estimation result when there is a bias in the chassis IMU sensor.