• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.69-72
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• 1997

A universal controller is designed using a DSP (digital signal processor). The design objectives of the system are to implement control algorithms that require a lot of calculations and to develop a convenient user-interface environment. To demonstrate the efficiency of the system, the time delay control algorithm is implemented for the 2 D.O.F.SCARA type robot and the experimental results are presented.

• Journal of Advanced Marine Engineering and Technology
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• 제25권2호
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• pp.321-330
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• 2001

Magnetic bearing system is frequently used for high-speed rotating machines because of its frictionless property. But the magnetic bearing system needs feedback controller for stabilization. This paper presents a robust controller design by using linear matrix inequality for magnetic bearing system which shows the control performance and robust stability under the physical parameter perturbations. To the end, the validity of the designed controller is investigated through computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.479-483
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• 1992

This paper defines the relationship between PI type fuzzy control system and conventional PI control system, and discusses the relationship of parameters and control action in fuzzy controller. The tuning algorithm that updates ouput variable scaling factor of fuzzy controller is proposed .The proposed sheme is applied to the simulations of 2 selected dynamical plants. The simulation results show that the controller is effective in controlling dynamical plants.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.420-420
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• 2000

In this paper, we propose an adaptive controller using RBFN(radial basis function network) for robot manipulators The structure of the proposed controller consists of a RBFN and VSC-1 ike control. RBFN is used in order to approximate かon system, and VSC-like control to guarantee robustness On the basis of the Lyapunov stability theorem, we guarantee the stability for the total system. And the learning law of RBFN is established by the Lyapunov method, Finally, we apply the proposed controller to tracking control for a 2 link SCARA type robot manipulator.

• 한국수소및신에너지학회논문집
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• 제28권4호
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• pp.369-376
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• 2017

Temperature and humidity regulations of an open-cathode PEM fuel cell with balance of plant (BOP) are developed in this study. The axial fan, a bubble humidifier, set of solenoid valves and a controller are used to perform temperature and humidity control simultaneously. A fuzzy controller is designed, and it shows its superiority in real-time controlling for strong non-linear dynamical fuel cell system. The axial fan speed is used for temperature control and solenoid valve on/off signal of the bubble humidifier is used for humidity control. The axial fan speed is controlled to keep the fuel cell temperature within the desired point. Meanwhile, the bubble humidifier is utilized to moisture hydrogen to manage the water content of membrane. The results show that the proposed fuzzy controller effectively increases the output power of 10% for a PEM fuel cell.

• 한국산학기술학회논문지
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• 제6권2호
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• pp.165-171
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• 2005

초음파 모터는 전자기식 모터들과는 달리 다양한 특징과 뛰어난 성능을 가진 새로운 형태의 모터이다. 그러나, 초음파 모터는 특히 구동시간에 따라 시스템의 비선형적인 특성과 파라미터의 변화들에 대한 문제를 갖는다. 그러므로 기존의 PID제어기를 사용함으로써 만족스러운 제어기의 성능을 내기가 어렵다. 본 논문에서는 원환형 초음파 모터와 선형 초음파 모터의 정밀 제어를 하기 위해 구동시간에 따른 응답 시간과 변화 등의 특성을 각각 분석하고, 리니어 초음파 모터에 대해서는 ${\mu}m$정도의 오차를 갖는 스텝 제어기와 PD제어기를 결합한 제어기를 제안한다. 제안된 제어기의 성능은 제어를 하지 않고 구동 시에 측정된 슬립 오차와 제안된 제어기를 사용하여 구동 시 측정된 슬립 오차를 비교하여 평가하였다. 실험 결과 스텝 제어기를 사용한 리니어 초음파 모터의 슬립오차는 $10{\mu}m$이하로 우수한 성능을 입증하였다.

• 한국해양공학회지
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• 제9권2호
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• pp.30-40
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• 1995

In this paper, it is proposed a robust control scheme for real time control of a robot manipulator with parameter uncertainties. The focus of this paper is a new approach of multivariable control schemes for an assembly robot manipulator to achieve the accurate trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and feedback controller. In this control scheme, the feedback controller consists of proportional-derivative type and is designed by the pole placement method. The feedforward controller uses the inverse of the linealized model of robot manipulator dynamics. This feedback controller ensures that each joint enables to track any reference trajectory. The proposed robot controller scheme has a computational efficiency.

• Journal of Electrical Engineering and Technology
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• 제8권5호
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• pp.1122-1130
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• 2013

This paper proposes a new design for quick battery charger systems for electric vehicles that consists of a three-phase inverter and a full-bridge converter which use the phase-shift method. The 3-phase inverter controls the input and DC-link voltage by use of a current controller and a voltage controller. The full-bridge converter transfers the DC-link voltage to a fixed output voltage. Designs for the output-side converter and controller for improved performance are proposed in this paper. Design schemes for the filter and controller of an input-side inverter are also presented. Furthermore, the paper proposes a compensation method for the offset current that is caused by switch failure and circuit problems. Simulations and experiments have been performed on a 50kW-battery charger system that is suitable for vehicles. The presented results verify the validity of the proposed method and the superiority of the system over conventional methods.

• 연구논문집
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• 통권33호
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• pp.81-88
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• 2003

A metal jet printing system based on ink jet printing technique is one of the effective equipments for manufacturing elements of display devices, electrical devices, information processing systems, and so on. In order to develop an actuator of the metal jet printing system, bimorph type PZT actuator(length 25.2mm, width 7.2mm, thickness 0.5mm, shim thickness 0.2mm) and its controller(voltage range $\pm24v$, built-in fast recovery diode) were suggested and investigated. Performance tests and characteristic analysis, such as displacement, force, hysteresis and frequency, were carried out. The results show that the suggested actuator and controller are suitable for the metal jet printing system.

• 한국항행학회논문지
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• 제26권2호
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• pp.105-112
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• 2022

본 논문의 무인 수중글라이더는 깊은 수심에서 작동하기 위해 설계되었고, 배터리 효율을 개선하기 위해 블래더 타입의 부력제어기를 채택하였고 내부 이동배터리의 움직임을 이용하여 피치각도를 제어하는 방식을 사용하고 있다. 무인 수중글라이더의 에너지 효율을 증대하기 위해 구간별로 제어를 수행하는 Layered PID 제어기를 설계하였으며, 유체동역학 계수를 포함한 6자유도 운동방정식을 전개하여 Matlab/Simulink 해석 프로그램을 설계하였다. 제어성능과 에너지 효율을 비교하기 위해 PID 제어기, 슬라이딩 모드 제어기 그리고 Layered PID 제어기를 해석 프로그램을 이용하여 비교 분석하였고 Layered PID 제어기가 PID 제어기에 비해 7.2%의 에너지 절감의 성능을 나타내었다.