• 제목/요약/키워드: balancing control

검색결과 637건 처리시간 0.02초

두 팔 달린 두 바퀴 형태의 모바일 역진자 시스템의 신경회로망 제어 (Neural Network Control of a Two Wheeled Mobile Inverted Pendulum System with Two Arms)

  • 노진석;김현욱;정슬
    • 한국지능시스템학회논문지
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    • 제20권5호
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    • pp.652-658
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    • 2010
  • 본 논문에서는 밸런싱 메커니즘의 두 바퀴 형태의 이동로봇(Two Wheeled Mobile Robot:TWMR)을 구현하고 제어한다. TWMR은 역진자 시스템과 이동로봇을 합친 모바일 역진자 구조로 기존의 막대 형태의 진자대신 두 팔 달린 로봇 형태를 나타낸다. 각도와 위치에 대한 동시제어에 있어 외란에 대한 강건성을 부여하기 위해 RBF 신경회로망 제어 방식을 사용한다. 신경회로망 제어 방식으로는 입력보상 방식(RCT)을 사용하여 제어기의 성능을 실험을 통해 검증한다. 또한 원격으로 제어가능하게 하도록 시스템을 구현하여 실험하였다.

3상 전압형 PWM 컨버터 운전시 전원측 리액터의 불평형을 고려한 보상법 (A Compensation Method considering Unbalance of Reactor at Source Side in Driving 3 Phase Voltage type PWM Converter)

  • 전지용;이사용;조유환;이근홍
    • 전력전자학회논문지
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    • 제10권4호
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    • pp.373-379
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    • 2005
  • 본 논문에서는 인버터를 구동하는 용도의 직류전원장치에 대한 제어 알고리즘 개발을 목표로 하고 있으며, 구동과 회생기능을 갖는 전압형 PWM 컨버터에서 운전시 전원의 불평형을 보상하는 제어방법을 제안한다. 교류전원에 대하여 컨버터가 항상 평형상태를 유지하는 방법은 전류제어 루프에 의하여 불평형 상태를 보상하는 방법을 사용하였으며, 불평형의 제어는 전력변환기의 구성면에 있어서 각상의 리액턴스가 같지 않은 누설변압기 등의 사용을 가능하게 하므로 제안된 전력변환기의 하드웨어와 제어 알고리즘은 장치의 소형화와 효율향상에 기여할 것이다.

정신지체아의 운동교육 Program 적용효과 (The Effects of Exercise Education Programs in Mentally-Handicapped Children)

  • 김상수;전제균
    • The Journal of Korean Physical Therapy
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    • 제6권1호
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    • pp.23-35
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    • 1994
  • In this research, the mentally-handicapped children being able to be trained were investigated the actual condition of train function making 40 mentally-handicapped children in Kummi Hyedang Spacial Education School, to exmine the effect of physical exercise function when training the mentally-handicapped children who can be trained as applying exercise education programs, and trains for 10 weeks by assigning to both experiment group and control group according to children who are similar to training functions from pre-examination. The results are in following: First, the results of test in the exercise ability of mentally-handicapped children with the degree of being able to trained are very delayed in comparison with normal mental children through the both top and bottom examination. The developments of 5 exercise functions classified by domain, have the order of eyesight exercise, softness, physical strength, quickness, parallelism, the interaction of both eye and hand, and, have the exercise function being equal to the level of between 6 and 12 years old. In 13 bottom test, throwing bean-bag is equal to the nomal 12 years old boy. the board jump, sitting position / bending forward / closing are equal to the level of 12 years old boy. standing with only leg is the level of 9 years old, threading pearls is 7 years old, transfering the wood building, picking the upper body up, walking board, balancing one leg with opened, eye, fist / opening palm / palm, bending and opening arm with postrating on chair, are the exercise functions of below 6 years old. Second, there are great effects in carrying out the exercise education program to the mentally-handicapped children with the level of being able to trained. In experiment group, it is elevated to the middle level of 12 years old nomal children. Classified by domain of test the board jump, training, the bean-bag are far higher level than 12 years old normal children, and are elevated the level of 11 years old boy. Balancing only leg with closed eye is below the level of 10 years old boys, fist / opening palm / palm are the level of 9 years old boys. There and back running, picking the upper body is the level of 9 years old girls. Walking board is the level of 8 years old boys. Bending and opening arm with postrating on chair is the level of 7 rears old boy. Balancing one leg with opened eye is elevated to the level of f years old girls. These functions have the more balanced exercise function rather than pre-examination. In control group, they have little change by classified the bottom test, but have the exercise function on the time of pre-examination, go backward in physical strength. quickness. Third, the exercise function being learned by exercise education program on the mentally-handicapped children of the level with being able to train is appeared to maintain continuately. Softness, physical strength, quickness, eyesight training are maintained the learned exercise function, the interaction of both eye and hands, parallelism are delayed a little. Classified by the bottom test. threading pearls, transfering the wood building, throwing the bean-bag, sitting position / rolling forward / reaching, the broad jump and picking upper body up, there and bark running, picking upper body up, balancing with only leg as opened eye, bending and opening arm with postrating on chair, etc. are maintained. Fist / opening palm / palm, balancing with only leg as opened eye are delayed a little. The change of body position is elevated. Seeing these results, it is appeared to the mentally-handicapped children that the exercise education programs, which is suitable their actual condition and acomplishes in voluntary participation, have very positive effect. So, to develop the function of body exercise in mentally-handicapped children with the level of being to able to be trained, the measures must be groped so that the exercise education programs can be practiced positively, and the ,body exercise can be experienced more.

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생산환경 변화에 따른 최적 Material Flow Control 선택방법 (Selection Method for Optimal Shop Floor Control According to Manufacturing Environment)

  • 박상근;박성호;하정훈
    • 산업경영시스템학회지
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    • 제36권2호
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    • pp.81-90
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    • 2013
  • Material flow control (MFC) is a kind of operational policy to control of the movement of raw materials, components, and products through the manufacturing lines. It is very important because it varies throughput, line cycle time, and work-in-process (WIP) under the same manufacturing environments. MFC can be largely categorized into three types such as Push, Pull, and Hybrid. In this paper, we set various manufacturing environments to compare five existing MFC mechanisms: Push, Pull, and Hybrid (CONWIP, Gated MaxWIP, Critical WIP Loops, etc). Three manufacturing environments, manufacturing policies (make to stock and make to order), demand (low, medium, high), and line balancing (balanced, unbalanced, and highly unbalanced) are considered. The MFCs are compared in the point of the five functional efficiencies and the proposed compounded efficiency. The simulation results shows that the Push is superior in the functional efficiency and GMWIP is superior in the compounded efficiency.

Central Control over Distributed Service Function Path

  • Li, Dan;Lan, Julong;Hu, Yuxiang
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • 제14권2호
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    • pp.577-594
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    • 2020
  • Service Function Chaining (SFC) supports services through linking an ordered list of functions. There may be multiple instances of the same function, which provides a challenge to select available instances for all the functions in an SFC and generate a specific Service Function Path (SFP). Aiming to solve the problem of SFP selection, we propose an architecture consisting of distributed SFP algorithm and central control mechanism. Nodes generate distributed routings based on the first function and destination node in each service request. Controller supervises all of the distributed routing tables and modifies paths as required. The architecture is scalable, robust and quickly reacts to failures because of distributed routings. Besides, it enables centralized and direct control of the forwarding behavior with the help of central control mechanism. Simulation results show that distributed routing tables can generate efficient SFP and the average cost is acceptable. Compared with other algorithms, our design has a good performance on average cost of paths and load balancing, and the response delay to service requests is much lower.

이족 로봇의 무게 중심 수평 위치 고속 이동을 위한 실시간 힘 제어 기법 (Real-Time Force Control of Biped Robot to Generate High-Speed Horizontal Motion of Center of Mass)

  • 이이수;박재흥
    • 로봇학회논문지
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    • 제11권3호
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    • pp.183-192
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    • 2016
  • Generating motion of center of mass for biped robots is a challenging issue since biped robots can easily lose balance due to limited contact area between foot and ground. In this paper, we propose force control method to generate high-speed motion of the center of mass for horizontal direction without losing balancing condition. Contact consistent multi-body dynamics of the robot is used to calculate force for horizontal direction of the center of mass considering balance. The calculated force is applied for acceleration or deceleration of the center of mass to generate high speed motion. The linear inverted pendulum model is used to estimate motion of the center of mass and the estimated motion is used to select either maximum or minimum force to stop at goal position. The proposed method is verified by experiments using 12-DOF torque controlled human sized legged robot.

전력 품질 향상을 위한 LVDC 양극성 배전 시스템의 불평형 전압 제어 (Unbalancing Voltage Control of LVDC Bipolar Distribution System for High Power Quality)

  • 이희준;신수철;강진욱;원충연
    • 전력전자학회논문지
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    • 제21권6호
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    • pp.486-496
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    • 2016
  • The voltage unbalance of an LVDC bipolar distribution system was controlled for high power quality. Voltage unbalance may occur in a bipolar distribution system depending on the operation of the converter and load usage. Voltage unbalance can damage sensitive load and lead to converter accidents. The conditions that may cause voltage unbalance in a bipolar distribution system are as follows. First, three-level AC/DC converters in bipolar distribution systems can lead to voltage unbalance. Second, bipolar distribution systems can be at risk for voltage unbalance because of load usage. In this paper, the output DC link of a three-level AC/DC converter was analyzed for voltage unbalance, and the bipolar voltage was controlled with algorithms. In the case of additional voltage unbalance according to load usage, the bipolar voltage was controlled using the proposed converter. The proposed converter is a dual half-bridge converter, which was improved from the secondary circuit of a dual half-bridge converter. A control algorithm for bipolar voltage control without additional converters was proposed. The balancing control of the bipolar distribution system with distributed power was verified through experiments.

Fuzzy Logic based Admission Control for On-grid Energy Saving in Hybrid Energy Powered Cellular Networks

  • Wang, Heng;Tang, Chaowei;Zhao, Zhenzhen;Tang, Hui
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • 제10권10호
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    • pp.4724-4747
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    • 2016
  • To efficiently reduce on-grid energy consumption, the admission control algorithm in the hybrid energy powered cellular network (HybE-Net) with base stations (BSs) powered by on-grid energy and solar energy is studied. In HybE-Net, the fluctuation of solar energy harvesting and energy consumption may result in the imbalance of solar energy utilization among BSs, i.e., some BSs may be surplus in solar energy, while others may maintain operation with on-grid energy supply. Obviously, it makes solar energy not completely useable, and on-grid energy cannot be reduced at capacity. Thus, how to control user admission to improve solar energy utilization and to reduce on-grid energy consumption is a great challenge. Motivated by this, we first model the energy flow behavior by using stochastic queue model, and dynamic energy characteristics are analyzed mathematically. Then, fuzzy logic based admission control algorithm is proposed, which comprehensively considers admission judgment parameters, e.g., transmission rate, bandwidth, energy state of BSs. Moreover, the index of solar energy utilization balancing is proposed to improve the balance of energy utilization among different BSs in the proposed algorithm. Finally, simulation results demonstrate that the proposed algorithm performs excellently in improving solar energy utilization and reducing on-grid energy consumption of the HybE-Net.

전원측 리액터 불평형을 고려한 전압형 컨버터의 전류 보상 제어기 구현 (The Implementation of Current Compensation Controller in Driving Voltage type Converter considering the Unbalance of Reactor at the Source Side)

  • 전지용;조유환;이근홍
    • 한국산학기술학회논문지
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    • 제5권5호
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    • pp.413-420
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    • 2004
  • 본 연구에서는 인버터를 구동하는 용도의 직류전원장치에 대한 제어 알고리즘 개발을 목표로 하고 있으며, 구동과 회생기능을 갖는 전압형 PWM 컨버터에서 운전시 전원의 불평형을 보상하는 제어방법을 제안하고자 한다. 이를 위해 전력회생기능을 갖는 정류기에 대하여 기존 다이오드 및 SCR을 이용한 정류방식과의 비교를 통해 본 제어방식의 우수성을 시뮬레이션과 실험을 통해 입증하고자 한다. 전력변환기가 항상 평형상태를 유지하기 위해 전류제어 루프에 의하여 불평형 상태를 보상하는 방법을 사용하였으며, 통상적으로 전력변환기의 구성시 각상의 리액턴스가 같지 않은 누설변압기 등의 사용을 가능하게 하므로 제안된 전력변환기의 리액턴스가 불평형상태가 되어도 운전시 항상 평형상태로 유지되어 시스템을 안정적으로 구동 시킬 수 있는 제어기법의 설계를 통해 어떤 환경에서도 장치의 안정된 구동특성을 확인하고자 하였다.

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6상 영구자석 동기전동기의 고장대응운전을 위한 3상 구동시스템 전환 알고리즘 (Three Phase Drive Transfer Algorithm for Fault Tolerance Control of Six-Phase PMSM)

  • 김성훈;장원진;조관열;김학원
    • 전력전자학회논문지
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    • 제26권4호
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    • pp.256-262
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    • 2021
  • Six-phase motors can be used in industrial applications, such as an electric vehicle, due to their high reliability and low current magnitude per phase. An asymmetrical PMSM with two sets of three-phase windings is a commonly used structure for six-phase motors, with each winding set demonstrating a phase difference of 30°. Although the asymmetrical PMSM presents low torque ripples, its dynamic torque response deteriorates due to coupled components in the two three-phase windings. The decoupled VSD control is applied to eliminate the coupling effect. Load ratio control of two inverters for the six-phase PMSM is proposed in this study. DQ currents are controlled on the basis of two synchronous reference frames, and the six-phase drive system can be changed to a three-phase drive system when one inverter presents fault conditions. The operation and effectiveness of the proposed algorithm is verified through simulation and experiments. The six-phase drive system is transferred to a three-phase drive system by changing the current reference of the second DQ reference frame. Moreover, control of both torque and speed exhibits satisfactory performance before and after the mode change.