• Journal of Electrical Engineering and Technology
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• 제8권4호
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• pp.930-937
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• 2013

In this paper, a motor control algorithm for performing a mode change without an integrated starter generator (ISG) is suggested for the automatic transmission-based hybrid electric vehicle (HEV). Dynamic models of the HEV powertrains such as engine, motor, and mode clutch are derived for the transient state during the mode change, and the HEV performance simulator is developed. Using the HEV performance bench tester, the characteristics of the mode clutch torque are measured and the motor torque required for the mode clutch synchronization is determined. Based on the dynamic models and the mode clutch torque, a motor torque control algorithm is presented for mode changes, and motor control without the ISG is investigated and compared with the existing ISG control.

• 제어로봇시스템학회논문지
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• 제21권2호
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• pp.150-156
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• 2015

In this paper, a marionette control system using wrist and finger gestures through an IMU sensor is studied. The signals from the sensor device are conditioned and recognized, then the commands are sent to the 8 motors of the marionette via Bluetooth (5 motors control the motion of the marionette, and 3 motors control the location of the marionette). It is revealed that the degree of freedom of fingers are not independent from each other, therefore, some gestures are hardly made. Gesture mode changes for difficult postures of the fingers in cases of a lack of finger DOF are proposed. Therefore, the gesture mode change switches the assignment of gesture as required. Experimental results show that gesture mode change is successful for appropriate postures of a marionette.

• 제어로봇시스템학회논문지
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• 제6권4호
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• pp.285-294
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• 2000

This paper shows that the proposed fuzzy-sliding mode control algorithm for a SCARA robot could reduce the chattering due to sliding mode control and is robust against a change of payload and parameter uncertainties. That is, the chattering can be reduced by changing control input for compensating disturbances into a control input by fuzzy rules within a pre-determined dead zone. The experimental results show that the chattering can be reduced more effectively by the fuzzy-sliding mode control algorithm than the sliding mode control with two dead zones. It is proved experimentally that the proposed control algorithm is robust to a change of payload. The proposed control algorithm is implemented to the SCARA robot using a DSP(board) for high speed calculations.

• 전력전자학회논문지
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• 제21권3호
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• pp.200-206
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• 2016

In the microgrid, inverters for energy storage system are generally constructed in a parallel structure because of capacity expandability, convenience of system maintenance, and reliability improvement. Parallel inverters are required to provide stable voltage to the critical load in PCC and to accurately share the current between each inverter. Furthermore, when islanding occurs, the inverters should change its operating mode from grid-connected mode to stand-alone mode. However, during clearing time and control mode change, the conventional control method has a negative impact on the critical load, that is, severe fluctuating voltage. In this study, a parallel operation control method is proposed. This method provides seamless mode transfer for the entire transition period, including clearing time and control mode change, and has accurate current sharing between each inverter. The proposed control method is validated through simulation and experiment.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제53권10호
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• pp.634-640
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• 2004

In this paper, the control strategy for high speed operation in light rail transit system is proposed. Recently, the vector control strategy is used to get high capacity control characteristic in low speed area. But Six step mode that is one pulse mode is used in high speed region to use DC link voltage to the maximum. Therefore, in high speed area, the vector control can not be used but scalar control method is used. To get a driving performance to be stabilized, the method of smooth mode change between the low speed and high speed area and PWM control is desired. So this paper proposes the control strategy using vector control include the one pulse mode. And also proposes overmodulation method that makes to change in one pulse mode softly. The performance of traction system will be verified by simulation results using MATLAB and experimental results.

• 융합신호처리학회논문지
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• 제5권3호
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• pp.210-215
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• 2004

교류 서보전동기 동적 모델은 비선형이고 2차 저항이 변동영향이 많다. 이러한 복잡한 제어는 견실제어가 요구된다. 이러한 시스템의 동특성은 슬라이딩 모드제어를 사용함으로 파라미터나 외란 변동에 대하여 견실성을 달성할 수 있다. 본 논문은 교류 서보전동기에 의한 위치제어에 슬라이딩 모드 제어의 적용을 나타내었다. 제어방법이 유도되고 제어시스템이 설계되었다. 교류 서보전동기의 견실제어를 위해 외부 부하 파라미터에 기초한 설계방법이 제안되었다. 제안된 제어방법은 가변구조 제어기와 슬립주파수형 벡터제어에 기초하여 주어졌다. 시뮬레이션 결과는 관성모우먼트, 점성마찰 및 부하외란 변동에 결실함을 나타내었고 슬라이딩 모드를 적용한 제안된 설계방법이 유용한 것을 구명한다.

• 전력전자학회논문지
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• 제24권5호
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• pp.349-355
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• 2019

A grid-connected inverter with critical loads should be able to supply a stable voltage to critical loads at mode change and during clearing time while detecting unintentional islanding. This study proposes a mode transfer method for a grid-connected inverter with critical loads. The proposed method, which integrates the grid-connected and islanded mode control loops into one control block, provides an autonomous and seamless mode transfer from the current control to the voltage control. Therefore, the proposed scheme can supply a stable voltage to critical loads at mode change and during clearing time. Experimental results are provided to validate the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.355-355
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• 2000

The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a 개bot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.241-245
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• 1995

This paper shows that the proposed fuzzy-sliding mode for SCARA robot control could reduce chattering problemed in sliding mode control and is robust against parameter uncertainties. It was very small quantities of chattering in the fuzzy-sliding mode control conpared with that in sliding mode control with two dead-band. In here, the sliding mode control with two dead-band is the method to reduce some chattering by changing into a continuous variable lower control input gain when a state value in pahase palne converged sithin two dead-band. But, the fuzzy-sliding mode control for more reducing chattering is the method to change control input by slicing mode into that by fuzzy rule within two dead-band. Simulations show that the effect of reducing chattering by the fuzzy-sliding mode is superior to sliding mode control with two dead-band.

• 한국자동차공학회논문집
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• 제8권6호
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• pp.194-207
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• 2000

In this paper, we suggest a vision-based lane change control system, which can be applied on the straight road, without additional sensors such as a yaw rate sensor and a lateral accelerometer. In order to reduce the image processing time, we predict a reference line position during lane change using the lateral dynamics and the inverse perspective mapping. The sliding mode control algorithm with a boundary layer is adopted to overcome variations of parameters that significantly affects a vehicle`s lateral dynamics and to reduce chattering phenomenon. However, applying the sliding mode control to the system with a long sampling interval, the stability of a control system may seriously be affected by the sampling interval. Therefore, in this paper, a look ahead offset has been used instead of a lateral offset to reduce the effect of the long sampling interval due to the image processing time. The control algorithm is developed to follow the desired trajectory designed in advance. In the design of the desired trajectory, we take account of the constraints of lateral acceleration and lateral jerk for ride comfort. The performance of the suggested control system is evaluated in simulations as well as field tests.