• Title/Summary/Keyword: State Space Model

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A Design of Linear State Observers for Motorized Seat Belt System (전동식 안전벨트 시스템의 선형 상태 관측기 설계)

  • Lee, Kang-Seok;Choi, Chin-chul;Lee, Woo-Taik
    • Transactions of the Korean Society of Automotive Engineers
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    • v.20 no.3
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    • pp.58-66
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    • 2012
  • This paper describes a design and a verification of linear state observers for a motorized seat belt system to estimate state information such as angular velocity and load torque. The motorized seat belt system provides functions to protect passengers and improve passenger's convenience. To realize these functions, sensors which can measure an angular velocity and load torque are needed. By use of the linear state observer, state information can be estimated without sensors. The motorized seat belt system is analysed and represented as a state space model which contains load torque as an augmented state. By the developed state space model, a full and reduced order observer are designed and verified by experiments. The full and reduced order observer are also compared from points of view of execution time and noise robustness.

A PROCEDURE FOR GENERATING IN-CABINET RESPONSE SPECTRA BASED ON STATE-SPACE MODEL IDENTIFICATION BY IMPACT TESTING

  • Cho, Sung-Gook;Cui, Jintao;Kim, Doo-Kie
    • Nuclear Engineering and Technology
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    • v.43 no.6
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    • pp.573-582
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    • 2011
  • The in-cabinet response spectrum is used to define the input motion in the seismic qualification of instruments and devices mounted inside an electrical cabinet. This paper presents a procedure for generating the in-cabinet response spectrum for electrical equipment based on in-situ testing by an impact hammer. The proposed procedure includes an algorithm to build the relationship between the impact forces and the measured acceleration responses of cabinet structures by estimating the state-space model. This model is used to predict seismic responses to the equivalent earthquake forces. Three types of structural model are analyzed for numerical verification of the proposed method. A comparison of predicted and simulated response spectra shows good convergence, demonstrating the potential of the proposed method to predict the response spectra for real cabinet structures using vibration tests. The presented procedure eliminates the uncertainty associated with constructing an analytical model of the electrical cabinet, which has complex mass distribution and stiffness.

가변 풍량 유닛에 의한 실내 공간의 온도제어를 위한 공간의 분할 모델과 상태궤환 제어기의 개발에 관한 연구

  • 박세화;신승철
    • Korean Journal of Air-Conditioning and Refrigeration Engineering
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    • v.13 no.10
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    • pp.947-959
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    • 2001
  • We propose a control scheme to control the indoor zone temperature via variable air volume (VAV) unit. To control the room temperature, state space model of the conditioned zone which is partitioned into nine artificial sectional regions is derived. The nonlinearity of the damper motion and actuator are considered for the practical use in the state space system description. The temperature control of the room temperature is performed by manipulating the degree of openness of the damper in relation to the local room temperature and the supplied air flow rate. In general, since a local temperature in the conditioned zone is measured, it is required to estimate the temperature values in each regions for the precise temperature control. We thus design a state observer to estimate the regional temperature, and use these values in the controller. The overall control system consists of the state observer based state feedback with the integral control. We compared the control results of the proposed scheme with those of cascade proportional and integral (PI) control, and showed that the scheme achieved precise control of the conditioned system.

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Region-based Q- learning For Autonomous Mobile Robot Navigation (자율 이동 로봇의 주행을 위한 영역 기반 Q-learning)

  • 차종환;공성학;서일홍
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.174-174
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    • 2000
  • Q-learning, based on discrete state and action space, is a most widely used reinforcement Learning. However, this requires a lot of memory and much time for learning all actions of each state when it is applied to a real mobile robot navigation using continuous state and action space Region-based Q-learning is a reinforcement learning method that estimates action values of real state by using triangular-type action distribution model and relationship with its neighboring state which was defined and learned before. This paper proposes a new Region-based Q-learning which uses a reward assigned only when the agent reached the target, and get out of the Local optimal path with adjustment of random action rate. If this is applied to mobile robot navigation, less memory can be used and robot can move smoothly, and optimal solution can be learned fast. To show the validity of our method, computer simulations are illusrated.

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Modeling and Simulation Technique of Two Quadrant Chopper and PWM Inverter-Fed IPMSM Drive System and Its Application to Hybrid Vehicles

  • Murata, Toshiaki;Kawatsu, Utaro;Tamura, Junji;Tsuchiya, Takeshi
    • Journal of international Conference on Electrical Machines and Systems
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    • v.1 no.2
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    • pp.91-97
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    • 2012
  • This paper presents a state space model of a two quadrant chopper and PWM inverter-fed Interior Permanent Magnet Synchronous Motor (IPMSM) drive system and its application to hybrid vehicles. The drive system has two different state equations for motoring and regenerating action. This paper presents a common state equation by using State Space Averaging method. Using this model of the IPMSM drive system, detailed simulation and controller design of the drive system, including PWM inverter switching, are given. The validity of this model and usefulness, according to a comparison among Maximum Torque/Ampere control, Maximum Torque/Flux control, and Maximum Efficiency optimization, are confirmed from simulation results.

CURRENT CONTROL FOR PWM AC-DC CONVERTER USING SINUSOIDAL TRACKING CONTROLLER

  • Woo, Jung-In;Heo, Tae-Won;Lee, Hyun-Woo;Kim, Choon-Sam;Jung, Yung-Il
    • Proceedings of the KIPE Conference
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    • 1998.10a
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    • pp.928-933
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    • 1998
  • This paper presents a novel current control system to eliminate the steady state control error and to improve the transient characteristics for PWM AC-DC converter. A general mathematical model of the converter that is represented as a state-space model is first established. The state-space model is used for the simulation of PWM switching converter with the proposed current control system. The proposed sinusoidal tracking control system that does not require coordinate transformations using principle of the integral controller is described. It is proved that the steady state deviation reduces to zero through a transfer function of source current control system. Finally, it is seen that simulations agree with the experimental results in source current and reference of controlled ac current loop.

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Takagi-Sugeno Fuzzy Integral Control for Asymmetric Half-Bridge DC/DC Converter

  • Chung, Gyo-Bum
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.7 no.1
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    • pp.77-84
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    • 2007
  • In this paper, Takagi-Sugeno (TS) fuzzy integral control is investigated to regulate the output voltage of an asymmetric half-bridge (AHB) DC/DC converter; First, we model the dynamic characteristics of the AHB DC/DC converter with state-space averaging method and small perturbation at an operating point. After introducing an additional integral state of the output regulation error, we obtain the $5^{th}$-order TS fuzzy model of the AHB DC/DC converter. Second, the concept of the parallel distributed compensation is applied to design the fuzzy integral controller, in which the state feedback gains are obtained by solving the linear matrix inequalities (LMIs). Finally, simulation results are presented to show the performance of the considered design method as the output voltage regulator and compared to the results for which the conventional loop gain method is used.

Novel current control for PWM AC-DC converter using internal principle of PI controller (PI 제어기의 내부원리를 이용한 PWM AC-DC 컨버터의 새로운 전류제어)

  • Heo, T.W.;Hwang, Y.M.;Kim, Y.B.;Lee, H.W.;Woo, J.I.
    • Proceedings of the KIEE Conference
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    • 1998.07f
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    • pp.1944-1946
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    • 1998
  • This paper presents a novel current control system to eliminate the steady state control error for PWM AC-DC converter. A general mathematical model of the converter which is represented as a state-space model is established. The state-space model is used for the simulation of converter with the proposed tracking control system of sinusoidal current. In this system, a novel current control which do not require coordinate transformations using internal principle of PI controller is described. It is proved that the steady state deviation reduce to zero through a transfer function of source current control system. Finally, simulations show good source current control characteristics by means of a simplified control system which do not require coordinate transformations.

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Rendezvous Mission to Apophis: VI. Observation Campaign during the 2021 Apparition

  • Lee, Hee-Jae;Kim, Myung-Jin;Kim, Dong-Heun;Moon, Hong-Kyu;Choi, Young-Jun
    • The Bulletin of The Korean Astronomical Society
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    • v.46 no.2
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    • pp.59.2-59.2
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    • 2021
  • On March 6 2021, Apophis made a close approach to the Earth with a minimum distance of 0.11 AU when the apparent magnitude reached up to V~16. This was the most favorable condition to observe this asteroid until its 2029 encounter. The observations during this apparition were extremely important to determine major physical properties, such as size, rotational state, 3D shape model, surface mineral properties. So, we organized the observation campaign during the 2021 apparition. The main goals of our campaign are to refine the spin state and 3D shape model and check the surface composition variations. The campaign involved dozens of countries and included ground-based photometry and spectroscopy, and spacecraft observations. Our timely observation campaign will provide essential data in planning the operation scenario for the space mission. In this presentation, we will report the preliminary result of the Apophis observation campaign during the 2021 apparition.

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Test-case Generation for Simulink/Stateflow Model using a Separated RRT Space (분할된 RRT 공간을 이용한 Simulink/Stateflow모델 테스트케이스 생성)

  • Park, Hyeon Sang;Choi, Kyung Hee;Chung, Ki Hyun
    • KIPS Transactions on Software and Data Engineering
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    • v.2 no.7
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    • pp.471-478
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    • 2013
  • This paper proposes a black-box based test case generation method for Simulink/Stateflow model utilizing the RRT algorithm which is a method to efficiently solve the path planning for complicated systems. The proposed method in the paper tries to solve the reachability problem with the RRT algorithm, which has to be solved for black-box based test case generations. A major problem of the RRT based test case generation algorithms is that the cost such as running time and required memory size is too much for complicated Stateflow model. The typical RRT algorithm expands rapidly-exploring random tree (RRT) in a single state space. But the proposed method expands it in dynamic state space based on the state of Simulink model, consequently reducing the cost. In the paper, a new definition of RRT state space, a distance measure and a test case generation algorithm are proposed. The performance of proposed method is verified through the experiment against Stateflow model.