• 한국철도학회:학술대회논문집
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• 한국철도학회 1999년도 추계학술대회 논문집
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• pp.280-287
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• 1999

An automatic train operation(ATO) system executes the operation of constant speed travelling and fixed point parking by using microprocessors instead of drivers manual operation. This paper describes the mathematical model for the train considering unknown disturbances which consist of start resistance, travelling resistance, slope resistance, curve resistance, and so on. The speed controller of ATO system is designed by considering the disturbances. The simulation is executed to verify the speed control and fixed point parking performance and to compare its performance with that of a PID-type ATO control system under disturbances. Simulation results show that the control performance of gain scheduled control scheme fur ATO system is better than that of the conventional PID controller.

• Journal of Information Processing Systems
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• 제15권1호
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• pp.116-126
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• 2019

In this paper, an improved one-against-one support vector machine algorithm is used to classify multiple power quality disturbances. To solve the problem of parameter selection, an improved particle swarm optimization algorithm is proposed to optimize the parameters of the support vector machine. By proposing a new inertia weight expression, the particle swarm optimization algorithm can effectively conduct a global search at the outset and effectively search locally later in a study, which improves the overall classification accuracy. The experimental results show that the improved particle swarm optimization method is more accurate than a grid search algorithm optimization and other improved particle swarm optimizations with regard to its classification of multiple power quality disturbances. Furthermore, the number of support vectors is reduced.

• 한국기계가공학회지
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• 제20권4호
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• pp.66-72
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• 2021

Since the behavior of an autonomous underwater vehicle (AUV) is influenced by disturbances and moments that are not accurately known, the depth control law of AUVs must have the ability to track the input signal and to reject disturbances simultaneously. Here, we proposed robust tracking control for controlling the depth of an AUV. An augmented closed-loop system is represented by an error dynamic equation, and we can easily show the asymptotic stability of the overall system by using a Lyapunov function. The robust tracking controller is consisted of the internal model of the command signal and a state feedback controller, and it has the ability to track the input signal and reject disturbances. The closed-loop control system is robust to parameter uncertainties. Simulation results showed the control performance of the robust tracking controller to be better than that of a P + PD controller.

• 로봇학회논문지
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• 제18권2호
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• pp.155-163
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• 2023

Auto Guided Vehicle (AGV) equipped with mecanum wheels can move in all directions, unlike ordinary wheeled AGVs. In this paper, we propose a robust trejectory tracking control method for the mecanum wheeled AGVs in the presence of disturbances. It is constructed by combining impedance control with Integral Sliding Mode Control (ISMC), which shows robust performance against disturbances, and adding a disturbance observer (DOB) that estimates and removes disturbances. Simulation result using MATLAB/SIMULINK shows that the proposed control method has robust performance in tracking the reference trajectory under the circumstance with disturbance. The control performance is further improved when the disturbance observer is additionally used. In addition, the performance of the proposed control method was verified through experiment. It shows the result of tracking the set trajectory well.

• 환경생물
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• 제27권4호
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• pp.375-383
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• 2009

본 연구는 경기도 고양시와 김포시 인근의 한강하구지역에 도래하여 월동하는 재두루미의 도래 및 취식지역 이용현황, 잠재식이물, 주간 일주행동 그리고 방해요인에 대한 조사를 통하여 이 지역 재두루미의 월동생태에 대한 기초자료 구축과 지속적인 서식을 위한 보전방안을 마련하기 위하여 실시하였다. 재두루미는 본 지역에서 2월 중순에 최대개체수인 162개체가 확인되었고, 3월 중순에 모두 번식지역으로 이동하였다. 월동기간 동안 한강 주변 김포시와 고양시의 농경지역인 홍도평, 이화동, 평동 그리고 송포동지역을 취식지역으로 이용하였으며, 월동지 전체의 이용가능일수(ECC)는 334일(121~909일)이었다. 재두루미는 오전에 취식지역으로 이동하여 먹이 활동을 하였으며, 방해요인이 발생하면 한강의 갯벌로 이동하여 먹이 활동을 하거나 휴식을 취했다. 일주행동은 취식, 경계, 이동, 깃다듬기, 안락, 사회 및 기타행동으로 나누어 조사 하였으며, 월동지에서는 취식의 비율이 가장 높았다. 또한 일주행동 중 취식, 경계, 이동 그리고 깃다듬기는 취식지역별로 유의적인 차이가 나타났다. 통계적으로 유의한 차이를 나타내었다. 취식지역에서 재두루미의 월동에 방해를 주는 요인은 총 348회가 관찰되었으며, 차량, 사람, 자전거 및 오토바이와 같은 인위적인 방해요인과 소음, 동물, 기타의 자연적인 요인이 있었다. 방해요인은 이화동 (134회), 홍도평 (109회), 송포동 (64회) 그리고 평동(44회)의 순으로 관찰되었으며, 인위적인 방해요인(228회)이 자연적인 방해요인(120회)에 비해 많았다. 특히, 그 중에서 차량에 의한 방해의 빈도가 가장 높았다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.372-375
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• 1996

In this paper, a designing method of model following control system for linear descriptor system with disturbances is proposed. The features of this method are:1) both the physical structure of the system and the physical system variables properties can be preserved because there is no necessary to make transformation of this system. 2) boundedness of internal states are proved by means of coprime factorization of descriptor system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.692-695
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• 1997

Nonlinear robust attitude controller for 3-axis stabilized spacecraft is designed. Robust stability analysis for nonlinear spacecraft system with disturbance is conducted. External disturbances and parametric uncertainties decrease Spacecraft's attitude pointing accuracy. Sliding Mode Control(SMC) provides stability of system in the face of these disturbances and uncertainties. The concept of quadratic boundedness and quadratic stability are applied to the robust analysis for the nonlinear spacecraft system subject to bounded disturbance torques. Numerical simulation is conducted to compare the analysis result and actual nonlinear simulation. The simulation show that analysis result is valid.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1326-1329
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• 1997

In designing the controller by changing the weighting matrix for the pirpose of satisfying constraints, the physical meaning of weighting matrix may disapperar and the system may not yield best performance because operation condition such as periodic disturbance was not considered. In this paper, the weighting matrix is fixed and controller is designed to minimize the new performance index to reduce the effects of periodic-type disturbances. This method is applied to design the satellite controller to verify the effetiveness.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권12호
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• pp.556-561
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• 2002

In this paper, a discrete-time variable structure controller for linear time-varying sampled-data systems with disturbances is proposed. The proposed method guarantees that the system state if globally uniformly ultimately bounded (G.U.U.B), and the ultimate bound is shown to be the order of T, O(T), where T is a sampling period.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2017년도 추계학술대회
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• pp.195-196
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• 2017

This paper proposes a permanent magnet synchronous motor(PMSM) control using a repetitive controller. Repetitive controllers are often used to eliminate periodic disturbances. Based on this, it is possible to alleviate the torque disturbance occurring at a constant cycle to the load of the motor. This paper proposes a method of rejecting periodically generated disturbances by using a repetitive controller and verified by simulation.