• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.953-957
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• 2001

This paper is concerned with a transfer alignment method for the SDINS under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonliner measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 제어로봇시스템학회논문지
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• 제9권12호
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• pp.1001-1008
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• 2003

A time-delay compensation method for vector control system is proposed that can compensate for voltage and current distortions resulting from a time delay in the overall system due to the low pass filter, hysteresis control inverter, microprocessor program computation time, and so on. The proposed scheme estimates the time delay using the difference between the Q-axis stator current command and the time-delayed actual Q-axis stator current in a synchronous reference frame, then compensates the time delay in the voltage and current using the angular displacement of a DQ transformation. Accordingly, the proposed scheme can accurately compensate for the time delay related to the overall system, thereby significantly improving the performance of the vector control system, as verified by simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.486-486
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• 2000

This paper is concerned with a transfer alignment method for the SDINS(StrapDown Inertial Navigation System) under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 전기전자학회논문지
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• 제27권3호
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• pp.234-238
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• 2023

본 논문에서는 PVT(process, voltage, and temperature) 변화에 대한 보상기능을 가지는 시간-디지털 변환기(time-to-digital converter : TDC)를 제안한다. 일반적인 지연 라인(delay line) 기반의 TDC는 인버터의 전파 지연을 기반으로 시간을 측정하기 때문에 근본적으로 PVT 변화에 민감하다. 이 논문은 PVT 변화에 의한 전파 지연을 보상하여 TDC의 해상도 변화를 최소화시키는 방법을 제안한다. 또한 넓은 입력 측정 범위(detection range)를 갖기 위해 Cyclic Vernier TDC (CVTDC) 구조를 채택한다. 제안하는 PVT보상 기능의 CVTDC는 45nm CMOS 공정으로 설계되어, 8mW의 전력을 소모하며, 5 ps의 TDC 해상도 및 약 5.1 ns 입력 측정 범위를 갖는다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.243-246
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• 1998

A predictive controller is designed based upon stochastic methods for compensation of network time delay which caused by the spatial separation between controllers and actuators. Current commands are generated by using time varying probability functions which can be defined according to the values of previous control inputs and actual outputs. To demonstrate the effect of this control methodology, simulation experiments are performed. The results show that even an unstabilized system by a long time delay can be stabilized with this predictive controller.

• Journal of Power Electronics
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• 제11권2호
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• pp.156-162
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• 2011

The control loop time delay caused by sampling, the zero-order-holder effect and calculations is inevitable in the digital control of dc-dc switching converters. The time delay will limit the bandwidth of the control loop and therefore degrade the transient performance of digital systems. In this paper, the quantization time delay effects with different time delay values based on a generic second-order system are analyzed. The conclusion that the bandwidth of digital control is reduced by about 20% with a one cycle delay and by 50% with two cycles of delay in comparison with no time delay is obtained. To compensate the time delay and to increase the control loop bandwidth, a duty ratio predictive control scheme based on linear extrapolation is proposed. The compensation effect and a comparison of the load variation transient response characteristics with analogy control, conventional digital control and duty ratio predictive control with different time delay values are performed on a point-of-load Buck converter by simulations and experiments. It is shown that, using the proposed technique, the control loop bandwidth can be increased by 50% for a one cycle delay and 48.2% for two cycles of delay when compared to conventional digital control. Simulations and experimental results prove the validity of the conclusion of the quantization effects of the time delay and the proposed control scheme.

• Smart Structures and Systems
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• 제14권6호
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• pp.1055-1079
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• 2014

Substructure shake table testing is a class of real-time hybrid simulation (RTHS). It combines shake table tests of substructures with real-time computational simulation of the remaining part of the structure to assess dynamic response of the entire structure. Unlike in the conventional hybrid simulation, substructure shake table testing imposes acceleration compatibilities at substructure boundaries. However, acceleration tracking of shake tables is extremely challenging, and it is not possible to produce perfect acceleration tracking without time delay. If responses of the experimental substructure have high correlation with ground accelerations, response errors are inevitably induced by the erroneous input acceleration. Feeding the erroneous responses into the RTHS procedure will deteriorate the simulation results. This study presents a set of techniques to enable reliable substructure shake table testing. The developed techniques include compensation techniques for errors induced by imperfect input acceleration of shake tables, model-based actuator delay compensation with state observer, and force correction to eliminate process and measurement noises. These techniques are experimentally investigated through RTHS using a uni-axial shake table and three-story steel frame structure at the Johns Hopkins University. The simulation results showed that substructure shake table testing with the developed compensation techniques provides an accurate and reliable means to simulate the dynamic responses of the entire structure under earthquake excitations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.395-400
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• 2004

In most physical processes, the transfer function includes time-delay, and in the general distributed control system using computer network, there exists inherent time-delay caused by the spatial separation between controllers and actuators. This work deals with the synthesis of a discrete-time controller for a nonlinear system and proposes a new effective method to compensate the influence of input time-delay. The controller is synthesized by using input/output linearization. Under the circumstance that input time-delay exists, the system response has more overshoot and tends to diverge. For these reasons, the controller has to produce future input value that will be needed for the system. In order to calculate the future input value, some predictors are adopted. Using the discretization via Euler's method, numerical simulations about the Van der Pol system are performed to evaluate the performance of the proposed method.

• 한국컴퓨터정보학회논문지
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• 제18권7호
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• pp.79-84
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• 2013

본 논문에서는 파일럿 심벌을 이용하여 플랫 페이딩 채널에서 페이딩 정보를 예측하여 보상하는 방식인 PSAM(Pilot Symbol Assisted Modulation) 방식에 대해 주파수 선택적 Rayleigh 페이딩 채널에서 지연파의 영향을 받는 경우 발생하는 문제점 등을 분석하고 이를 개선하기 위하여 고차 PS(Pilot Symbol) QAM 채널보상 방식을 제안한다. 기존의 PSAM 방식은 지연파의 지연강도가 조금만 영향을 미치더라도 SNR(Signal-to-Noise Ratio)에 상관없이 심각한 성능저하를 보이지만 제안된 방식은 지연파의 지연강도에 영향을 받지만 안정적인 성능개선을 보인다.

• 전기학회논문지
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• 제67권3호
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• pp.433-439
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• 2018

In this paper, a SDINS(strapdown inertial navigation system) rapid initial alignment technique with adaptive time delay compensation is proposed. The proposed method consists of two steps. In first step, misalignment and data latency are estimated by conducting pre-transfer alignment. Then, hybrid alignment is designed to rapidly find the misalignment changes induced by pyro-shock. To improve the performance of hybrid alignment, adaptive time delay compensation method is suggested. We verify the performance improvement of the proposed alignment scheme comparing with the conventional transfer alignment method by van test. The test result shows that the proposed alignment technique improves alignment performance.