• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.3
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• pp.503-509
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• 2014

In this paper, a PID controller with adaptive neural network compensator is proposed to control the formations of mobile robot. The control system is composed of a kinematic controller based on the leader-following robot and dynamic controller for considering the dynamics of the mobile robot. The dynamic controller is constituted by a PID controller and the adaptive neural network compensator for improving the performance and compensating the change in dynamic characteristics. Simulation results show the performance of the PID controller and the neural network compensator for the circular trajectory and linear trajectory. And it is verified that by improving the performance of a PID controller via the adaptive neural network compensator, the following robot's tracking performance is improved.

• Journal of Digital Convergence
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• v.12 no.12
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• pp.257-264
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• 2014

Through MCU model, Radio Frequency communication is completed using universal asynchronous receiver and transmitter. The communicatin with PC and MCU is completed using RS-232 cable. At first interconnected communication with PC and MCU is necessary for RF communication because tha UART is based technique for RF communication. Program imbeded in microcontroller unit is ran during RF signal is transmitted to other RF module. Data connected with PC and MCU is transmitted between PC and MCU during PC and MCU is connected.

• Proceedings of the Korean Institute of Communication Sciences Conference
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• 1990.06a
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• pp.832-836
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• 1990

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.7
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• pp.625-633
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• 2004

In this paper, position control of a car-like mobile robot using a neural network is presented. positional information of the mobile robot is given by a laser range finder located remotely through wireless communication. The heading angle is measured by a gyro sensor. Considering these two sensor information as a reference, the robot posture is corrected by a cascaded controller. To improve the tracking performance, a neural network with a cascaded controller is used to compensate for any uncertainty in the robot. The neural network functions as a compensator to minimize the positional errors in on-line fashion. A car-like mobile robot is built as a test-bed and experimental studies of several controllers are conducted and compared. Experimental results show that the best position control performance can be achieved by a cascaded controller with a neural network.

• Journal of Ocean Engineering and Technology
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• v.30 no.3
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• pp.221-226
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• 2016

An attitude controller for a 6-DOF hovering autonomous underwater vehicle (HAUV) is implemented. We add a vertical thruster, an underwater camera, a wireless communication device, and a DVL to the HAUV that was developed a year ago. The HAUV is composed of 5 thrusters, 2 servo-motors, and 4 apparatus parts. Two rotating thrusters control the surge, heave, and roll of the vehicle. The vertical thruster controls the pitch, and two horizontal thrusters control the sway and yaw of the vehicle. The HAUV’s movement in each direction is controlled by 6 PID controllers. Each PID controller controls the propulsive force and angle of a thruster. In a horizontal and vertical movement experiment, we showed the feasibility of the proposed controller by maintaining a given depth and heading angle of the HAUV.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.12
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• pp.2632-2640
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• 2011

In this paper, we implemented a memory controller which can accommodate data processing blocks. The memory controller is arbitrated by the internal arbiter which receives request signals from masters and sends grant and data signals to masters. The designed memory controller consists of Master Interface, Master Arbitrator, Memory Interface, Memory accelerator. It was designed using VHDL, and verified using the memory model of SAMSING Inc. For FPGA synthesis and verification, Quartus II of ATERA Inc. was used. The target device is Cyclone II. For simulation, ModelSim of Cadence Inc was used.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.63 no.3
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• pp.183-188
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• 2014

Power conversion systems used in large gas turbine power plant can be divided into two main part. Because of the initial start-up characteristic of the gas turbine combustor, the gas turbine must be accelerated by starting device(LCI : Load Commutated Inverter) up to 10%~20% of rated speed to ignite it. In addition, the ECS(Excitation Control system) is used to control the rotor field current and reactive power in grid-connected synchronous generator. These two large power conversion systems are located in the same space(container) because of coordination control. Recently, many manufactures develop high speed controller based on function block available in the LCI and ECS with the newest power semiconductor. We also developed high speed controller based on function block to be using these two system and it meets the international standard IEC61131 as using real-time OS(VxWorks) and ISaGRAF. In order to install easily these systems at power plant, main controller, special module and IO module are used with high speed communication line other than electric wire line. Before initial product is installed on the site, prototype is produced and tests are conducted for it. The performance results of Integrated controller and application program(SFC, ECS) were described in this paper. The test results will be considered as the important resources for the application in future.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.11
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• pp.1827-1834
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• 2016

This paper presents a high efficient generator with PM(Permanent Magnet) exciter. The proposed PM exciter for the generator can produce a linear output voltage according to the engine speed. This output voltage is directly used to control the field current of the generator to adjust the generator output voltage. In the proposed generator system, since the field winding current can be supplied by the PM exciter, the generator can self-start without any battery or an external power supply due to the low residential flux. Furthermore, the operating efficiency of the generator is higher than a conventional winding exciter. The main problem of the proposed generator system, the field winding current controller has to be embedded inside the generator, and it rotates according to the generator shaft. In this paper, the proper embedded current controller is designed for the proposed generator system. Due to the embedded controller cannot be connected to the outside the generator controller, the measured instantaneous output voltage of the generator is transferred by the photo isolated communication using shaft aligned infrared transmitter and receiver to keep the constant generator output voltage. In this paper, 10kW, 380V engine generator with PM exciter and the embedded DAVR(Digital Automatic Voltage Regulator) are described. The proposed high efficiency generator is simulated and tested to verify the effectiveness.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.11
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• pp.2474-2479
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• 2012

A sensorless vector control of an induction motor provides a good performance in the middle and high speed region. However, in the low speed region, it is very difficult to implement the sensorless vector controller because the feeding voltage measured by the motor is very low. In this paper, to improve the performance of a sensorless vector control of an induction motor in the low speed region under 3Hz, we proposed the fuzzy logic controller using the zooming algorithm. To verify the performance of the proposed controller, an experiment has been performed.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1846-1847
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• 2006

In this study, we developed the real-time controller for control loading system (CLS) of aircraft simulator. The CLS is given the forces as inputs: the exerted force by a pilot, which is determined according to the position of the control stick, and the calculated force by the host computer. And then CLS makes the pilot feel the back loading force by supplying the motor drive with the actuator signal. The developed real-time controller for CLS is organized into the five parts which are the position sensing part including a encoder, the A/D converter part for the analog load cell signal, the communication interface part to communicate with the host, the D/A converter for the actuator signal, and the CPU DSP2812 to carry out a control algorithm. We constructed the test control loading system and carried out the experiment with the developed real-time controller. The experimental results showed that the real-time controller generates the back loading forces similar to the desired back loading force graph.