• International Journal of Automotive Technology
• /
• 제7권5호
• /
• pp.609-618
• /
• 2006

This paper presents the lateral control of an autonomous vehicle by using a look-ahead sensing system. In look-ahead sensing by an absolute positioning system, a reference lane, constructed by straight lanes or circular lanes, was switched by a segment switching algorithm. To cope with sensor noise and modeling uncertainty, a robust LMI-based $H_{\infty}$ lateral controller was designed by the feedback of lateral offset and yaw angle error at the vehicle look-ahead. In order to verify the safety and the performance of lateral control, a scaled-down vehicle was developed and the location of the vehicle was detected by using an ultrasonic local positioning system. In the mechatronic scaled-down vehicle, the lateral model and parameters are verified and estimated by a J-turn test. For the lane change and reference lane tracking, the lateral controllers are used experimentally. The experimental results show that the $H_{\infty}$ controller is robust and has better performance compared with look-down sensing.

• 조명전기설비학회논문지
• /
• 제27권10호
• /
• pp.93-100
• /
• 2013

Generally, the conventional battery charging system using an analog method has the large, heavy hardware and low efficiency. Also, it has the disadvantage that it is necessary to replace the control circuit on the basis of the characteristic curve of the specific battery cell. The proposed programmable digital LLC resonant charging system use high efficiency control system(CC-CV), and has characteristic a small hardware and advantage that a digital programming of the voltage, current, and battery capacity characteristics can be flexible. The system proposed the use of Half-bridge LLC resonant converter is possible to improve efficiency and reduce switching losses by using ZVS topology. Further, a constant voltage - constant current(CC-CV) control algorithm apply to the charger which using a buck converter. The performance of the proposed system is demonstrated through experiments.

• 한국정보통신학회논문지
• /
• 제9권7호
• /
• pp.1479-1484
• /
• 2005

본 논문은 이동로봇을 위한 위치 및 물체인식용 지능형 센서 제어 시스템에 대해 기술한다. 개발된 센서시스템은 저가의 광 PSD(Position sensitive detector)를 사용하였다. PSD센서는 저가이고, 가볍다는 장점이 있지만 많은 noise를 갖고 있다. 본 논문에서는 이러한 noise를 효과적으로 제거하기 위해 hardware filter와 software filter를 제안한다. 또한 선분기반 map building을 위해 개선된 Hough transform 알고리즘과 이동로봇의 실내 환경에서의 navigation 알고리즘을 제안한다. 개발된 시스템은 실험을 통해 증명하였다.

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2018년도 춘계학술대회
• /
• pp.484-486
• /
• 2018

최근 다양한 분야에서 디지털 장비의 사용이 증가함에 따라 영상 및 신호처리의 중요성이 높아지고 있다. 하지만 디지털 신호는 송수신 과정에서 많은 종류의 잡음이 발생하며 고장의 원인이 되고 있다. 이러한 이유로 여러 분야에서 잡음 제거를 전처리 과정으로서 필수적으로 행한다. 본 논문은 임펄스 잡음과 AWGN이 혼합된 잡음을 제거하기 위해 잡음 판단을 통해 잡음을 구분하여 잡음 제거를 진행한다. 그리고 잡음 종류에 따라 변형된 가우시안 필터와 방향성 유효 화소를 이용하여 처리하는 알고리즘을 제안하였다. 시뮬레이션 결과 우수한 잡음제거 특성을 나타내었으며, 객관적인 판단을 위해 기존 방법들과 비교하였다.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
• /
• 제5B권1호
• /
• pp.70-77
• /
• 2005

This paper presents sensorless speed control of a cylindrical permanent magnet synchronous motor (PMSM) using the adaptive integral binary observer. In view of the composition with a main loop regulator and an auxiliary loop regulator, the normal binary observer has the feature of chattering alleviation in the constant boundary layer. However, the steady state estimation accuracy and robustness are dependent upon the thickness of the constant boundary layer. In order to improve the steady state performance of the binary observer, a new binary observer is formed by the addition of extra integral dynamics to the existing switching hyperplane equation. Also, because the parameters of the dynamic equations such as machine inertia or viscosity friction coefficient are not well known and these values can be changed during normal operations, there are many restrictions in the actual implementation. The proposed adaptive integral binary observer applies an adaptive scheme so that the observer may overcome the problems caused by using dynamic equations. The rotor speed is constructed by using the Lyapunov function. The observer structure and its design method are described. The experimental results of the proposed algorithm are presented to prove the effectiveness of the approach.

• Journal of Information Display
• /
• 제11권4호
• /
• pp.173-181
• /
• 2010

In this paper, light-emitting-diode (LED) backlight driving circuits and dimming method for medium-sized and large liquid crystal displays (LCDs) are proposed. The double loop control method, the intelligent-phase-shifted PWM dimming method, the fast-switching current regulator, and the current matching techniques are proposed to improve not only the current regulation characteristics and the power efficiency but also the current matching characteristics and the transient response of the LED current. The brightness of the backlight using the proposed local dimming method was determined from the histogram of the local block to reduce the power consumption of the backlight without image distortion. The measured maximum power efficiency of the LED backlight driving circuit for medium-sized LCDs was 90%, and the simulation results showed an 88% maximum power efficiency of the LED backlight driving circuit for large LCDs. The maximum backlight power-saving ratio of the proposed dimming method was 41.7% in the simulation with a high-contrast image. The experiment and simulation results showed that the performance of LEDs as LCD backlight units (BLUs) improved with the proposed circuits and method.

• 한국정보통신학회논문지
• /
• 제10권9호
• /
• pp.1617-1624
• /
• 2006

본 논문은 분산전원시스템(DGS)을 위 한 시스템 모델링, 수정된 SVPWM 적용 그리고 수동소자인 L과 C로 구성된 Z-원 인버터의 제어기에 대하여 기술하였다. 기존의 DC/DC 승압 컨버터나 변압기를 사용하지 않고 낮은 DC 입력을 상용 AC로 만들기 위해서 SVPWM의 영벡터 구간을 이용해 DC-링크단 전압을 승압하는데 이용하였다. 한 스위칭주기에 3개조의 스위칭소자 중에 2개조만 동시 도통되도록 하여 유효벡터의 손실 없이 승압이 가능하도록 하였다. 빠르고 오버슈트가 없는 전류응답과 낮은 정상상태 전압오차를 얻기 위해서 이산시간 슬라이딩모드 전류제어기와 강인한 서보기구 전압제어기를 설계하였다. 시뮬레이션을 통하여 제안된 알고리즘의 유용성을 확인하였다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
• /
• pp.296-300
• /
• 1989

The paper proposes a method to eliminate harmonics of PWM inverter fed induction motor system using Walsh series. In other words, this paper presents technique of the selective harmonics elimination(SHE) by W-FT series in three phase PWM inverter output waveform. A microprocessor(8086 CPU) - controlled three phase induction motor system in order to verify this algorithm is present. It is designed for a three output voltage in the 1$\sim$60 Hz inverter with the 5th and 7th harmonics, 5th, 7th, 11th, and 13th, harmonics eliminated, and with the fundamental wave amplitude proportional to the output frequency. In the PWM inverter, dead time circuit is inserted in the switching si gnats to prevent the de link shortage. This paper is deals with quantative prediction of dead-time effect and its compensation in PWM inverters. The performance of the compensation circuits is confirmed by the experiment.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
• /
• 제51권7호
• /
• pp.399-405
• /
• 2002

This paper presents an implementation of digital high-performance Position sensorless motion control system of an induction motor drives with Direct Torque Control(DTC). The system consist of closed loop stator flux and torque observer, speed and torque estimators, two hysteresis controller, optimal switching look-up table, IGBT voltage source inverter, and TMS320C31 DSP board. The stator flux observer is based on the combined current and voltage model with stator flux feedback adaptive control of which inputs are current and voltage sensed on motor terminal for wide speed range. The speed observer is using the model reference adaptive system(MRAS) with rotor flux linkages for speed turning signal. The simulation and experimental results are provided to evacuate the consistency and the performance of the suggested position sensorless control algorithm. The developed position sensorless system are shown a good motion control response characteristic and high performance features using 2.2[kw] general purposed induction motor.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
• /
• 제53권12호
• /
• pp.691-699
• /
• 2004

SRM(Switched Reluctance Motor) drives require the accurate position information of the rotor. These informations are generally provided by a tacho generator or digital shaft-position encoder These speed sensors lower the system reliability and require special attention to noise. This paper describes a new approach to estimating SRM speed from measured terminal voltages and currents for speed sensorless control. The described method is based on the sliding mode observer. The rotor speed and position observers are estimated by the adaptation law using the real and estimated currents. However, the conventional adaptive sliding mode observer based on the variable structure control theory has some disadvantages that the estimated values including the high-frequency chattering and the steady state error generated due to the infinite feedback gain chosen and the discontinuous control input. To reduce the chattering and steady state error, an integrator is also inserted in the sliding mode observer strategy. The described adaptive sliding mode observer decreases the vibration to the switching hyper-plane of the sliding mode by adding integrator. The described methodology incorporates the Lyapunov algorithm to drive the rotor speed and the stator resistance such that it can overcome the problem of sensitivity in the face of SRM parameter variation. Also, without any mechanical information. The rotor speed of SRM is obtained form adaptive scheme. The described method is verified through the simulation and experiment.