• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.696-703
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• 2005

Since most autonomous mobile robots are powered by a battery, it is important to increase the continuous operating time without recharging. This can be achieved by improving the energy efficiency of a mobile robot, but little research on energy efficiency has been performed. This paper proposes two methods for improving the energy efficiency of an omnidirectional mobile robot.. One method is to realize a continuously variable transmission (CVT) by adopting the mechanism of steerable omnidirectional wheels. The other is the proposed steering algorithm in which wheel arrangement of the mobile robot is continuously adjusted so as to obtain the maximum energy efficiency of the motors during navigation. In addition, new omnidirectional wheels which can be transformed to the conventional wheels depending on the driving conditions are proposed to compensate for less efficient omnidirectional drive mode. Various tests show that motion control of the OMR-SOW works satisfactorily and the proposed steering algorithm for CVT can provide higher energy efficiency than the algorithm using a fixed steering angle. In addition, it is shown that the differential drive mode can give better energy efficiency than the omnidirectional drive mode.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.28 no.5
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• pp.115-121
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• 2014

The intrinsic simplicity, ruggedness, and simple power electronic drive requirement of a Switched Reluctance Motor(SRM) make it possible to use in many commercial adjustable speed application. The simple magnetic circuit results in a high efficiency drive and low temperature rise, and the drive system provides a good drive characteristics. This paper is provides two phase 4/3 SRM that is similar to two phase 6/3 SRM as aspect to magnetic structure. Although 6/3 SRM does not experience any flux reversal as the flux is in the same direction whether phase A or B is excited, but two phase 4/3 SRM experiences a flux reversal in small part of stator yoke. The flux reversal in two phase 4/3 SRM could be relieved by an adjustment of stator yoke structure. The magnetic analysis and design considerations of the two phase 4/3 SRM have been obtained by the finite element method analysis (FEM).

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.3
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• pp.285-293
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• 1999

In this paper, the novel digital frequency/phase controller, to control the invelter fed traveling wave type ultra-sonic m motor(USM) is proposed. This controller is used to control the drive frequency, phase difference and applied voltages of e each phase of the motor. Proposed digital controller has constructed with digital logic only, no more use digitallongleftarrowanalog h hybrid method of the conventional controller, in order to generate drive frequency and phase difference. Therefore, the c control system has become to velY simple structure. T\rvo types of controllers are designed, one is to control drive f frequency and phase difference, another has added voltage control function of each phase. Two full digital voltage/phase c controllers are implemented by using custom LSI and EPLD, the control pelformance and the simplicity ofthe proposed c controller is verified by expeJimental results.

• Journal of Information Processing Systems
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• v.16 no.4
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• pp.784-794
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• 2020

In order to effectively evaluate the urban water security, the study investigates a novel system to assess factors that impact urban water security and builds an urban water poverty evaluation index system. Based on the contribution rates of Resource, Access, Capacity, Use, and Environment, the study adopts the Water Poverty Index (WPI) model to evaluate the water poverty levels of 14 cities in Gansu during 2011-2018 and uses the least variance method to evaluate water poverty space drive types. The case study results show that the water poverty space drive types of 14 cites fall into four categories. The first category is the dual factor dominant type driven by environment and resources, which includes Lanzhou, Qingyang, Jiuquan, and Jiayuguan. The second category is the three-factor dominant type driven by Access, Use, and Capability, which includes Longnan, Linxia, and Gannan. The third category is the four-factor dominant type driven by Resource, Access, Capability, and Environment, which includes Jinchang, Pingliang, Wuwei, Baiyin, and Zhangye. The fourth category is the five-factor dominant type, which includes Tianshui and Dingxi. The driven types impacting the urban water security factors reflected by the WPI and its model are clear and accurate. The divisions of the urban water security level supply a reliable theoretical and numerical basis for an urban water security early warning mechanism.

• Journal of Drive and Control
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• v.16 no.3
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• pp.23-32
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• 2019

This study proposed a fault tolerant control algorithm for electro-hydraulic brake systems where permanent magnet synchronous motor (PMSM) drive is adopted to boost the braking pressure. To cope with motor position sensor faults in the PMSM drive, a braking pressure controller based on an open-loop speed control method for the PMSM was proposed. The magnitude of the current vector was determined from the target braking pressure, and motor rotational speed was derived from the pressure control error to build up the braking pressure. The position offset of the pump piston resulting from a leak in the hydraulic system is also compensated for using the open-loop speed control by moving the piston backward until it is blocked at the end of stroke position. The performance and stability of the proposed controller were experimentally verified. According to the results, the control algorithm can be utilized as an effective means of degraded control for electro-hydraulic brake systems in the case that a motor position sensor fault occurs.

• Journal of the Korea Institute of Military Science and Technology
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• v.24 no.3
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• pp.293-301
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• 2021

LTV(Light Tactical Vehicle) operating in our military requires higher levels of performance and durability to withstand harsher conditions than general vehicles, as they must travel on both rough-train and off-road as well as on public roads. Recently, LTV development is demanded a variety of test evaluations in order to satisfy ROC (Required Operational Capability) by the military requirement. However, there is no informations of driving test course for satisfying the durability performance of Korean tactical vehicle. Therefore, this study aims to provide basic data to establish reliable drive test conditions by analyzing the main maneuvering test site at the domestic and foreign country in order to select the representative drive course. These studies will provide a more scientific and systematic evaluation solution for the development of tactical vehicles, and can be effectively used to establish a certified system for military vehicle test evaluation in the future

• Journal of the Korean Society of Industry Convergence
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• v.23 no.1
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• pp.41-48
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• 2020

Currently, the industry uses MODBUS communication method using RS485 as a communication method used when constructing distributed equipment and networks. However, this method has a rather good transmission and reception distance, but has a disadvantage of being a half-duplex communication method. Therefore, there is a great need for a full-duplex communication method that can simultaneously transmit and receive two-wire communications. Therefore, in this paper, we propose a new communication hardware equipment that can implement full-duplex communication method by communication signal level to overcome the disadvantage of communication speed. The proposed communication hardware is a structure that can transmit and receive at the same time on the same communication line in two equipments communicating in a two-wire system. The characteristic of this communication hardware is that the transmitter generates two-level signal for data transmission, but the receiver generates three-level electric signal according to the status of the transmission data generated by the receiver. The data transmission signal information of the receiver is present at the same time. Therefore, the receiving side can analyze the received signal based on the information on the current transmission signal and can analyze the signal only in the two communicating devices, so it can be seen that the communication security is very excellent.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.2
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• pp.352-359
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• 2008

This paper presents a controller implementation using model based controller design programs-System Identification Toolkit, Control Design Toolkit, Simulation module. This method is easier and simpler than conventional controller design method. To implement speed control system of DC motor, a CompactRIO, Real-Time(RT) cntroller provided by NI(National Instruments), is used as hardware equipment. Firstly transfer function of DC motor drive system, which was a control target plant, can be acquired through System Identification Toolkit by using test input signal applied to motor and output signal from motor. And designing of pole-zero compensator satisfying desired control response performance through Control Design Toolkit, designed speed control response can be tested through Simulation Module. Finally LabVIEW program is converted to real-time program and downloaded to CompactRIO real-time controller Through experimental results to real DC motor drive system, designed speed control response is compared to simulation results.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.6
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• pp.70-77
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• 2004

In many industrial applications, an unexpected fault of induction motor drive systems can cause serious troubles such as downtime of the overall system heavy loss, and etc. As one of methods to solve such problems, this paper investigates the fault diagnosis for open-switch damages in a voltage-fed PWM inverter for induction motor drive. For the feature extraction of a fault we transform the current signals to the d-q axis and calculate mean current vectors. And then, for diagnosis of different fault patterns, we propose a clustering based diagnosis algorithm The proposed diagnostic technique is a modified ANFIS(Adaptive Neuro-Fuzzy Inference System) which uses a clustering method on the premise of general ANFIS's. Therefore, it has a small calculation and good performance. Finally, we implement the method for the diagnosis module of the inverter with MATLAB and show its usefulness.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.8
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• pp.33-39
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• 2005

The maximum output torque and power developed by the machine is ultimately depended on the allowable inverter current rating and maximum voltage which the inverter can supply to the machine. Therefore, considering the limited voltage and current capacities, it is desirable to consider a control method which yields the best possible torque per ampere. In this paper, we propose fuzzy neural network(FNN) controller that combines a fuzzy control and the neural network for high performance control of induction motor drive. This controller composes antecedence of the fuzzy rules and consequence by a clustering method and a multi-layer neural networks. This controller is compounding of advantages that robust control of a fuzzy control and high-adaptive control of the neural networks. Also, this paper is proposed control of maximum torque per ampere(MTPA) of induction moor. This strategy is reposed which is simple in structure and has the honest goal of minimizing the stator current magnitude for given load torque. The performance of the proposed induction motor drive with maximum torque control using FNN controller is verified by analysis results at dynamic operation conditions.