• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.403-411
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• 2015

In this paper, we propose a design method for the position and speed controller, current control of a Brushless Direct Current(BLDC) motor using back-stepping design techniques. Further, to stabilize the whole system, and proposes a method for setting the appropriate gain control to improve the tracking performance. By applying the proposed controller to 120W BLDC motors were tested for the ability to follow the position, velocity and current reference. Since the simulation results of the steady state error is within 1%, we were able to show the usefulness of the tracking performance of the proposed controller.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.11
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• pp.990-998
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• 2007

Adaptive output feedback control technique using Neural Networks(NN) is proposed for uncertain nonlinear Multi-Input Multi-Output(MIMO) systems. Modified Dynamic Inversion Model(MDIM) is introduced to decouple uncertain nonlinearities from inversion-based control input. MDIM consists of approximated dynamic inversion model and inversion model error. One NN is applied to compensate the MDIM of the system. The output of the NN augments the tracking controller which is based upon a filtered error approximation with online weight adaptation laws which are derived from Lyapunov's direct method to guarantee tracking performance and ultimate boundedness. Several numerical results are illustrated in the simulation of Van der Pol system and unmanned helicopter with model uncertainties.

• Aerospace Engineering and Technology
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• v.10 no.1
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• pp.45-53
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• 2011

This paper is technical review about Direct Sequence Spread Spectrum(DSSS) to apply in launch vehicle system. First, we introduce communication protocol(carrier frequency, code length, process gain, data rate, chip rate etc) about several application system using DSSS. And then, we survey and summarize the effect of doppler shift to the DSSS. The doppler shift is important error factor for PN code tracking in the fast moving system like launch vehicle. So, spread spectrum code acquisition technique for a direct sequence system in the presence of doppler effect must be investigated.

• Advances in aircraft and spacecraft science
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• v.2 no.1
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• pp.95-108
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• 2015

Automatic Dependent Surveillance Broadcast (ADS-B) is quickly being adopted by aviation safety authorities around the world as the standard for aircraft tracking. The technology provides the opportunity for live tracking of aircraft positions within range of an ADS-B receiver stations. Currently these receiver stations are bound by land and local infrastructural constraints. As such there is little to no coverage over oceans and poles, over which many commercial flights routinely travel. A low cost space based ADS-B receiving system is proposed as a constellation of small satellites. The possibility for a link between aircraft and satellite is dependent primarily on proximity. Calculating the likelihood of a link between two moving targets when considering with the non-periodic and non-uniform nature of actual aircraft flight-paths is non-trivial. This analysis of the link likelihood and the performance of the tracking ability of the satellite constellation has been carried out by a direct simulation of satellites and aircraft. Parameters defining the constellation (satellite numbers, orbit size and shape, orbit configuration) were varied between reasonable limits. The recent MH370 disappearance was simulated and potential tracking and coverage was analysed using an example constellation. The trend of more satellites at a higher altitude inclined at 60 degrees was found to be the optimal solution.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.7
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• pp.876-884
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• 2012

The worldwide CPV(Concentrated Photo Voltaic) market has been increased rapidly due to the increase in large-scale PV(Photo Voltaic) plants which are situated in sun-rich areas with either a Mediterranean or equatorial-type climate. CPV systems are arguably some of the most important devices in the production of electricity within regions with a sun-rich climate, particularly those which benefit from abundant direct solar irradiation. We have developed a 500X CPV module with rated power of 170Wp. The CPV module must satisfy the constraint of having a sensitive tracking accuracy due to the limited tolerance of the acceptance angle in intrinsic optical design. In this study, the module's acceptance angle used was designed with a tolerance angle of ${\pm}1^{\circ}$ in the secondary optics design. In general, non-concentrated module type 2-axis trackers have a tolerance angle larger than ${\pm}1^{\circ}$ due to standard silicon-type modules which are insensitive to the tracking accuracy of the sun. They have a tolerance angle of ${\pm}2{\sim}4^{\circ}$, which fails to exert a significant influence on the performance of the module. This paper provides a study of an experimental variation of the efficiency of the CPV module in terms of its tracking accuracy. Also, the performance of the module is studied from the perspective of temperature and direct irradiation.

• Journal of the Korean Solar Energy Society
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• v.30 no.6
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• pp.118-124
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• 2010

In order to develop commercial model of 10kW dish-Stirling solar thermal power system, modification for the exiting facility was taken for a year as a Leading Project in KIER. During the project, solar tracking system, control and monitoring system and high durability reflector were developed and long term operation were performed. The solar tracking system was tested for four months to investigate the degree of precision and adapted to the control system for an actual operation from October in 2009. The sun tracking accuracy of ${\pm}4$ mrad using modified control system was obtained and the system operated successfully during the experimental period. The monitoring system displays engine pressure, electric generation amounts, generator RPM, receiver temperatures, and etc. from Stirling engine and weather data of Direct Normal Irradiation, Horizontal Global Insolation, wind speed & direction, and atmosphere temperature from weather station. According to the operating results in a clear sky day, electric power of 6,890 W was generated at the DNI value of 850 W/$m^2$ and the averaged solar-to-electricity efficiency during a whole day reached to 18.99%. From the overall operating results, linear power generation trend could be observed with increasing DNI value. The solar-to-electricity efficiency achieved to 19% around the DNI value of 700 W/$m^2$ and increased to 20% when the DNI value goes up to 900 W/$m^2$.

• Proceedings of the IEEK Conference
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• 2004.08c
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• pp.491-493
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• 2004

In this paper, a direct controller for nonlinear plants using a neural network is presented. The controller is composed of an approximate controller and a neural network auxiliary controller. The approximate controller gives the rough control and the neural network controller gives the complementary signal to further reduce the output tracking error. This method does not put too much restriction on the type of nonlinear plant to be controlled. In this method, a RBF neural network is trained and the system has a stable performance for the inputs it has been trained for. Simulation results show that it is very effective and can realize a satisfactory control of the nonlinear system.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.59 no.1
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• pp.29-34
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• 2010

This paper presents an intelligent learning controller for repetitive walking motion of biped walking robot. The proposed learning controller consists of an iterative learning controller and a direct learning controller. In the iterative learning controller, the PID feedback controller takes part in stabilizing the learning control system while the feedforward learning controller plays a role in compensating for the nonlinearity of uncertain biped walking robot. In the direct learning controller, the desired learning input for new joint trajectories with different time scales from the learned ones is generated directly based on the previous learned input profiles obtained from the iterative learning process. The effectiveness and tracking performance of the proposed learning controller to biped robotic motion is shown by mathematical analysis and computer simulation with 12 DOF biped walking robot.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.5 no.1
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• pp.7-12
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• 2012

In this paper, a direct controller for nonlinear plants using a neural network is presented. The controller is composed of an approximate controller and a neural network auxiliary controller. The approximate controller gives the rough control and the neural network controller gives the complementary signal to further reduce the output tracking error. This method does not put too much restriction on the type of nonlinear plant to be controlled. In this method, a RBF neural network is trained and the system has a stable performance for the inputs it has been trained for. Simulation results show that it is very effective and can realize a satisfactory control of the nonlinear system.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.123-129
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• 1996

Computed torque method has been used for precise trajectory control of the robotic system that involves nonlinear dynamics. It is hard to know exact values of robot system parameters, and the robot arm receives umpredictable interference from the working environment. These disturbances, especially in a direct drive robot, are directly transmitted to actuating motor without reduction. Modelling error and distrubance can cause significant errors in a trajectory tracking problem. In this paper, we propose a new controller that $H_{\infty}$controller is conbined to robot system linearized by computed torque. Simula- tions are made for comparing the performance of the proposed controller with that of a nonlinear $H_{\infty}$ controller proposed by Chen and also computed torque method.hod.