• 전자공학회논문지SC
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• 제38권6호
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• pp.28-36
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• 2001

피드-포워드 보상부분과 불연속 제어 부분으로 구성되는 강건한 적응 슬라이딩 모드 로봇제어 알고리즘을 유도하였다. 미지의 매개변수는 실시간으로 추정되는 매개변수를 포함하는 그룹과 실시간으로 추정하지 않는 매개변수를 포함하는 그룹으로 나누어진다. 그런 다음 외란 및 실시간으로 추정하지 않는 매개변수에서의 불확실성 효과를 보상하기 위해 슬라이딩 제어 항이 토크 입력에 포함된다. 또한 매니퓨레이터 동역학 구조의 효율적인 이용으로 인하여 알고리즘은 계산이 간단하다. 매개변수 불확실성과 외부 외란의 존재에도 불구하고 제어기는 대국적 점근적으로 안정하며 추적오차가 영에 수렴함을 보여준다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.690-695
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• 2000

This article deals with the analytic results on the development and application of the Spherical CVT. The Spherical CVT is marked by its simple configuration, the infinite torque multiplication characteristic, and the smooth transitions between forward/neutral/reverse states of output speed. In this study, we describe the conceptual principles behind the Spherical CVT and some applications of it, which we developed recently. And, we propose the shifting algorithm based on the analytic consideration of CVT powertrain system. Contrary to conventional shifting algorithms using the OOL(optimal operating line) of the power source, the proposed shifting algorithm is represented as a $2^{nd}$ order equation in an explicit form, and it reveals the possibility of theoretic design of all optimal controller. As an example, we present numerical results that demonstrate the energy saving possible and the proposed shifting algorithm from the use of the Spherical CVT over standard reduction gear unit, using an ideal dc motor model.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2003년도 춘계전력전자학술대회 논문집(2)
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• pp.872-875
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• 2003

This paper introduces the propulsion system for Korean High Speed Railway(HSR). The developed propulsion system consists of PWM AC/DC converter and inverter. Compared with TGV-K, converters can improve input harmonics characteristics by the interlaced PW switching methods. And several merits such as unity power factor and simple regenerative operations can be also made. As a main power component, IGCT stack with suitable structure for high speed train and environmentally friendly cooling heat pipe is designed. In this paper, overall configuration of controller and control scheme is briefly described. Finally running tests are made to verify the developed propulsion system. The presented test results shows fast torque response, balanced converter current sharing, and appropriate running sequence.

• Journal of Power Electronics
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• 제11권4호
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• pp.430-438
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• 2011

This article proposes a robust nonlinear control based on Lyapunov's redesign, whose purpose is to deal with parametric uncertainty in the resistance of the motor windings. The robust controller design is based on the passivity properties of the motor, as well as energy shaping and damping injection. The application of this control technique is focused on electric vehicles mainly formed by a battery bank, a power inverter, an AC brushless motor and the mechanical transmission. The sine PWM technique is used to trigger the switching devices of inverter. The results were obtained from simulation, where is shown that robust control makes a proper tracking of electromagnetic torque.

• 한국소음진동공학회논문집
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• 제26권3호
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• pp.323-330
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• 2016

This paper describes real-time unbalance moment compensation method for line of sight(LOS) stabilization control systems. The factors of system inertia, frictions and unbalance moment affect the control accuracy of drive systems that are equipped to on the move(OTM) platforms requiring LOS stabilization function. In case of the unbalance moment among those factors is continuously changed as variation of relative angle between gravity vector and drive torque vector. Then, consideration of the effect in real-time is very complicate. Therefore, its effect should be designed to be minimized, however, designing it almost zero is impossible in real condition. In other words, it is hard to achieve target performance overcoming stability issue of highly unbalanced systems. To solve these problems, this paper proposes calculation method of unbalance moment by using measured sensor data for LOS stabilization control and its use for control compensation. Also, kinematical converting process and control structure for compensation are explained. The effectiveness of the proposed method as variation of unbalance moment is verified under simulation circumstance modeled by assuming LOS control system with 2-axis gimbal structure.

• 한국자동차공학회논문집
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• 제24권6호
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• pp.649-659
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• 2016

This paper describes control algorithm and control structure of vehicle control unit for range-extended electric vehicle equipped with engine-generator system, and specially presents methods which determine optimal operating points and decreases a vibration or a shock for operating the engine-generating system. The vehicle control algorithm is consisted of several parts which are sequence control, calculation of wheel demand torque, determination of operating points, and management of operating points and so vehicle controller has be made possible to efficiently manage calibration parameters. The control algorithm is evaluated by driving test modes, launching performance and operating engine-generator system and so on. In conclusion, this paper present methods for extending a mileage, improving a launching performance and reducing vibration or shock when the engine-generating system is starting or is stopping.

• 로봇학회논문지
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• 제8권1호
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• pp.8-19
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• 2013

One of the important issues for structural and electrical specifications in developing a robot is to determine lengths of links and motor specifications, which need to be appropriate to the purpose of robot. These issues become more critical for a gait rehabilitation robot, since a patient wears the robot. Prior to developing an entire gait rehabilitation robot, designing of a 1DOF assistive knee joint of the robot is considered in this paper. Human gait motions were used to determine an allowable range of knee joint that was rotated with a linear type actuator (ball-screw type) and links. The lengths of each link were determined by using an optimization process, minimizing the stroke of actuator and the total energy (kinetic and potential energy). Kinetic analysis was performed in order to determine maximum rotational speed and maximum torque of the motor for tracking gait trajectory properly. The prototype of 1 DOF assistive knee joint was built and examined with a impedance controller.

• 한국자동차공학회논문집
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• 제8권5호
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• pp.1-11
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• 2000

This study is aimed to develop a proto-type LPG engine for medium-duty commercial vehicles in order to substitute for conventional diesel engine. Recently, it is recognized that diesel engines are main cause for smoke pollution in urban site. So, it is expected to reduce this environmental emission by developing and substituting LPG engine which has the advantage of practical use in a short development period in aspects of infrastructures. For that, after analysing the specifications and performance characteristics of a base diesel engine, parts of combustion chamber, intake system, fuel supply and ignition systems suitable for LPG combustion were re-designed and manufactured. And and engine controller for fuel supply and ignition distributions was matched by feedback mapping based on the speed-load conditions. The torque and power of LPG engine were increased by 6∼12% on the overall driving conditions compared to the base diesel engine, and fuel consumption rate marked the similar level based on the fuel price. Exhaust emissions such as THC, CO, NOx recorded the same order with conventional LPG engine for passenger car.

• 한국자동차공학회논문집
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• 제17권1호
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• pp.50-57
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• 2009

Lane Keeping Assistant Systems (LKAS) require the cooperative operation between drivers and active steering angle/torque controllers. An LKAS is proposed in this study such that the desired reference path generation (DRPG) system generates the desired path to minimize the trajectory overshoot. Based on the reference path from the DRPG system, an optimal controller is designed to minimize the cost function. A HIL (Hardware In the Loop) simulator is constructed to evaluate the proposed LKAS system. The single camera is mounted on the simulator and acquires the monitor images to detect lane markers. The performance of the proposed system is evaluated by HIL system using the Carsim and the Matlab Simulink.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 학술대회 논문집 전문대학교육위원
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• pp.127-133
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• 2001

In SRM drive, the ON OFF angles of each phase switch should be accurately controlled in order to control the torque and speed stably. The accuracy of the switching angles is dependent upon the resolution of the encoder and the sampling period of the microprocessor, that are used to provide the information of the rotor position and to control the SRM power circuit, respectively. However, as the speed increases, the amount of the switching angle deviation from the preset values is also increased. Therefore, the low cost encoder suitable for the practical and stable SRM drive is proposed and the control algorithm to provide the switching signals using the simple digital logic circuit is also presented in this paper. As a result, a stable high speed SRM drive can be achieved by the high resolution switching angle control and it is verified from the experiments that the proposed encoder and logic controller can be a powerful candidate for the practical low cost SRM drive.