• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.47-49
• /
• 2004

In this correspondence, an new approach to design a fuzzy controller for system with uncertain output backlash to have good tracking performance is presented. Without using a compensation mechanism or backlash inverse, the fuzzy control mechanism is designed to implicitly compensate the delay effect arising from an uncertain output backlash and to make the output backlash stable without limit cycles. The proposed method designs a model-based fuzzy controller for a one-input one-output linear plant with output backlash. The effectiveness of the designed fuzzy controller is illustrated by the simulation.

• 대한음성학회지:말소리
• /
• 제60호
• /
• pp.145-164
• /
• 2006

This paper proposes class histogram equalization (CHEQ) to compensate noisy acoustic features for robust speech recognition. CHEQ aims to compensate for the acoustic mismatch between training and test speech recognition environments as well as to reduce the limitations of the conventional histogram equalization (HEQ). In contrast to HEQ, CHEQ adopts multiple class-specific distribution functions for training and test environments and equalizes the features by using their class-specific training and test distributions. According to the class-information extraction methods, CHEQ is further classified into two forms such as hard-CHEQ based on vector quantization and soft-CHEQ using the Gaussian mixture model. Experiments on the Aurora 2 database confirmed the effectiveness of CHEQ by producing a relative word error reduction of 61.17% over the baseline met-cepstral features and that of 19.62% over the conventional HEQ.

• 한국정밀공학회지
• /
• 제17권1호
• /
• pp.76-82
• /
• 2000

An arc sensor system to compensate positional errors was developed on the foundation of sensor interface system to make use of the on-line shift function of industrial welding robot. Investigating the on-line shift function, we examine the quantitative relationship between the deviation from programmed path and the correction data transferred from personal computer to robot controller. The number of input parameters for weld seam tracking can be reduced by making the relationship between the deviation and the correction data during half weaving be the function of only cross time. With the results of weld seam tracking for the butt joint with V-groove and fillet joint of sheet metal, good performance was implemented. By developing the sensor interface system to compensate the positional errors, industrial welding robot can be expected to contribute to the promotion of welding automation.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 하계학술대회 논문집 A
• /
• pp.452-454
• /
• 2004

An accurate digital distance relaying algorithm which is immune to reactance effect of the fault resistance and the load current for phase-to-ground fault in 765kV untransposed transmission lines is proposed. The algorithm can estimate adaptively the impedance to a fault point independent of the fault resistance. To compensate the magnitude and phase of the apparent impedance, this algorithm uses the angle of an impedance deviation vector. The impedance correction algorithm for Phase-to-ground fault uses a voltage equation at fault point to compensate the fault current at fault point. A series of tests using EMTP output data in a 765kV untransposed transmission lines have proved the accuracy and effectiveness of the proposed algorithm.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 하계학술대회 논문집 A
• /
• pp.455-457
• /
• 2004

An accurate digital distance relaying algorithm which is immune to reactance effect of the fault resistance and the load current for phase-to-phase short fault in 765kV untransposed transmission lines is proposed. The algorithm can estimate adaptively the impedance to a fault point independent of the fault resistance. To compensate the magnitude and phase of the apparent impedance, this algorithm uses the angle of an impedance deviation vector. The impedance correction algorithm for phase-to-phase short fault uses a voltage equation at fault point to compensate the fault current at fault point. A series of tests using EMTP output data in a 765kv untransposed transmission lines have proved the accuracy and effectiveness of the proposed algorithm.

• 한국군사과학기술학회지
• /
• 제22권3호
• /
• pp.401-407
• /
• 2019

In this paper, the position estimation considering wheel slip of mecanum wheeled mobile robots is discussed. Since the mecanum wheeled mobile robot does not need a space to rotate, it is very suitable in narrow industrial fields. However, the slip caused by the roller attached to the wheel makes it difficult to estimate the position precisely. Due to these limitations, mecanum wheels are rarely applied to unmanned mobile robots in automation factories. In this paper, a method to compensate the orientation and distance error caused by the slip is proposed. The exact orientation is measured by fusing gyro and magnetometer sensor data with application of Kalman filter. In addition, the kinematic model accounting slip effects will be defined to compensate the distance error.

• 드라이브 ㆍ 컨트롤
• /
• 제15권4호
• /
• pp.55-60
• /
• 2018

Force-controlled electro-hydrostatic actuators have to exhibit high backdrivability, to quickly compensate for force control errors caused by externally disturbed rod movement. To obtain high backdrivability, the servomotor for driving the hydraulic pump, should rotate exactly to such a revolution to compensate for force control errors, compressing or decompressing cylinder chambers. In this study, we proposed a modified velocity control structure, including a robust internal-loop compensator (RIC)-based velocity controller, for the servomotor to improve backdrivability of a force-controlled EHA. Performance improvement was confirmed experimentally, wherein sinusoidal velocity disturbance was applied to the force-controlled EHA, with constant reference input. Its dynamic force control errors reduced effectively, with the proposed control scheme, compared to test results with a conventional motordriver, for motor velocity control.

• International Journal of Aerospace System Engineering
• /
• 제5권2호
• /
• pp.8-15
• /
• 2018

For small earth observation satellites, alignment between the optical components is important for precise observation. However, satellite cameras are structurally subject to misalignment in the launch environment where vibration excitations and impacts apply, and in space environments where zero gravity, vacuum, radiant heat and degassing occur. All of these variables can cause misalignment among the optical components. The misalignment among optical components results in degradation of image quality, and a re-alignment process is needed to compensate for the misalignment. This process of re-alignment between optical components is referred to as a refocusing process. In this paper, we proposed a 3 - axis focusing mechanism to perform the refocusing process. This mechanism is attached to the back of the secondary mirror and consists of three piezoelectric inertia-friction actuators to compensate the x-axis, y-axis tilt, and de-space through three-axis motion. The fabricated focus mechanism demonstrated excellent servo performance by experimenting with PD servo control.

• Ocean Systems Engineering
• /
• 제12권2호
• /
• pp.159-172
• /
• 2022

To ensure stable performance, adaptive regulators with new theories are designed for steel-covered offshore platforms to withstand anomalous wave loads. This model shows how to control the vibration of the ocean panel as a solution using new results from Lyapunov's stability criteria, an evolutionary bat algorithm that simplifies computational complexity and utilities. Used to reduce the storage space required for the method. The results show that the proposed operator can effectively compensate for random delays. The results show that the proposed controller can effectively compensate for delays and random anomalies. The improved prediction method means that the vibration of the offshore structure can be significantly reduced. While maintaining the required controllability within the ideal narrow range.

• Journal of Information Processing Systems
• /
• 제18권4호
• /
• pp.510-523
• /
• 2022

Considering the problems of poor control effect, weak disturbance rejection ability and adaptive ability of two-wheeled self-balanced robot (TWSBR) systems on undulating roads, this paper proposes a fuzzy neural network active disturbance rejection controller (FNNADRC), that is based on fuzzy neural network (FNN) for online correction of active disturbance rejection controller (ADRC)'s nonlinear control rate. Firstly, the dynamic model of the TWSBR is established and decoupled, the extended state observer (ESO) is used to compensate dynamically and linearize the upright and displacement subsystems. Then, the nonlinear PD control rate and FNN are designed, and the FNN is used to modify the control parameters of the nonlinear PD control rate in real time. Finally, the proposed control strategy is simulated and compared with the traditional ADRC and fuzzy active disturbance rejection controller (FADRC). The simulation results show that the control effect of the proposed control strategy is slightly better than ADRC and FADRC.