• 한국항행학회논문지
• /
• 제12권4호
• /
• pp.341-349
• /
• 2008

본 논문에서는 고속의 무선 채널환경에 있는 WAVE시스템에 적합한 계수추적 동기알고리즘을 제안한다. WAVE 시스템에 대한 표준화 작업이 진행 중인 IEEE802.11p의 물리계충인 OFDM 시스템에 대하여 페이딩과 주파수 옵셋이 존재하는 환경을 고려하여 시스템의 성능을 구해내고, 제안하는 계수추적동기 알고리즘을 적용하여 기존 방식과 성능 비교한다. 시뮬레이션을 통해 제안하는 시스템이 기존방식에 비해 우수한 성능을 나타냄을 보인다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2254-2259
• /
• 2005

In this paper, we propose a wavelet based fuzzy neural network(WFNN) based direct adaptive control scheme for the solution of the tracking problem of mobile robots. To design a controller, we present a WFNN structure that merges advantages of neural network, fuzzy model and wavelet transform. The basic idea of our WFNN structure is to realize the process of fuzzy reasoning of wavelet fuzzy system by the structure of a neural network and to make the parameters of fuzzy reasoning be expressed by the connection weights of a neural network. In our control system, the control signals are directly obtained to minimize the difference between the reference track and the pose of mobile robot using the gradient descent(GD) method. In addition, an approach that uses adaptive learning rates for the training of WFNN controller is driven via a Lyapunov stability analysis to guarantee the fast convergence, that is, learning rates are adaptively determined to rapidly minimize the state errors of a mobile robot. Finally, to evaluate the performance of the proposed direct adaptive control system using the WFNN controller, we compare the control performance of the WFNN controller with those of the FNN, the WNN and the WFM controllers.

• Journal of Power Electronics
• /
• 제17권1호
• /
• pp.149-160
• /
• 2017

To improve the performance of sensorless induction motor (IM) drives, an adaptive speed estimation method based on a strong tracking extended Kalman filter with a least-square algorithm (LS-STEKF) for induction motors is proposed in this paper. With this method, a fading factor is introduced into the covariance matrix of the predicted state, which forces the innovation sequence orthogonal to each other and tunes the gain matrix online. In addition, the estimation error is adjusted adaptively and the mutational state is tracked fast. Simultaneously, the fading factor can be continuously self-tuned with the least-square algorithm according to the innovation sequence. The application of the least-square algorithm guarantees that the information in the innovation sequence is extracted as much as possible and as quickly as possible. Therefore, the proposed method improves the model adaptability in terms of actual systems and environmental variations, and reduces the speed estimation error. The correctness and the effectiveness of the proposed method are verified by experimental results.

• 한국통신학회논문지
• /
• 제27권2B호
• /
• pp.171-177
• /
• 2002

본 논문에서는 최근 장거리 초고속 광통신 시스템에 있어서 해결해야 할 문제로 대두되고 있는 편광모드분산 (PMD) 보상 시스템에 적용할 수 있는 새로운 방식의 편광상태(SOP) 추적 알고리즘에 대해 소개하였다. 새로운 SOP 추적 알고리즘은 본 연구팀에서 기존에 발표한 SOP 추적 알고리즘과 마찬가지로 헤테로다인 코히어런트 수신 방식을 근거로 하고 있으나 기존의 방법과는 달리 수시로 변하는 입력 신호의 SOP에 관계없이 항상 단 세 번만의 측정을 필요로 하기 때문에 동작 시간이 항상 일정하며 속도가 매우 빠른 장점이 있다. 이러한 특성은 매우 안정적이고 빠른 SOP 추적을 요하는 PMD 보상 시스템에 효과적으로 적용될 수 있다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 추계학술대회논문집A
• /
• pp.609-615
• /
• 2001

A turbo-fan is easily exposed to noise and vibration as against other industrial machines and the majority of them is subject to be damaged by vibration. The most usual problem of vibration in a turbo-fan is resonance so the case of being composed of iron sheet structure with low strength like a turbo-fan should be taken seriously. In this paper, FFT(Fast Fourier Transform) and Order tracking method were used to analyze factors of vibration in a turbo-fan and hereby with proper selection of vibration isolator, we wanted to reduce vibration of base. After Order tracking, we knew resonance occurred in rotational frequency 23 Hz(1400 rpm) at the casing and the bearing. After the test of base vibration using vibration isolators, the spring isolator was more effective than the robber isolator in the base vibration and the vibration isolating is more effective in the case that the isolating pad is adhered to the bottom of the isolating spring.

• 제어로봇시스템학회논문지
• /
• 제14권1호
• /
• pp.7-12
• /
• 2008

A GNSS(Global Navigation Satellite System) using GPS provides us with very useful information concerning the positioning of users in many sectors such as transportation, social services, the justice system and customs services, public works, search and rescue systems and leisure. A GNSS using the Galileo satellite is due to work in 2008 and expected to be used in various fields such as aviation, marine transportation, land surveying, resources development precise agriculture, telemetics, and so on. In this paper, we discuss the implementation and testing of a combined GPS/Galileo receiver which we named KSTAR V1.0. Each tracking module of GPS/Galileo dual mode correlator has the five track arms which consist of Very Early code, Early code, Prompt code, late code, and Very late code. Each of 24 tracking modules can be assigned to GPS and/or Galileo signal by changing mode selection register. The basic correlator integration dump period is set to 1ms for GPS C/A code and fast Galileo signal tracking. The performance of the developed combined GPS/Galileo receiver was tested and evaluated using the IF (Intermediated Frequency)-level GPS/Galileo signal generator.

• Journal of Electrical Engineering and Technology
• /
• 제6권3호
• /
• pp.319-327
• /
• 2011

An iterative technique based on orthogonal filters and frequency tracking is proposed to estimate harmonic components in power systems. The technique uses frequency interpolation to estimate fundamental frequency and harmonics when the nominal frequency of the signal is a non-integer value. Due to the number of computations involved during the generation of filter coefficients, an offline computation is suggested. Beneficial features of the proposed technique include fixed sampling rate and fixed data window size. The performance of the proposed technique is examined by simulating different power system operating conditions and evaluating the data from these simulations. A technique based on Fast Fourier Transform is also used to estimate the harmonic components for all the simulated signals. These estimates are compared with those obtained from the proposed technique. Results show that the proposed technique can converge to the accurate fundamental frequency and therefore, provide accurate harmonic components even when the fundamental frequency is not equal to the nominal frequency.

• 한국지능시스템학회논문지
• /
• 제17권3호
• /
• pp.368-373
• /
• 2007

최근에 지능형 로봇분야에서 주위 카메라를 기반으로 실시간으로 환경인식 및 물체 추적 등 다양한 분야에서 연구가 활발히 진행되고 있다. 환경인식 및 물체 추적은 결국 배경과 관심물체를 분리하는 것이라고 볼 수 있는 데, 차 연산을 이용하여 물체의 움직임만을 배경으로 분리하는 방법과 물체인식을 통해 배경으로부터 분리하여 추적하는 방법에 대한 연구가 지속적으로 이루어지고 있다. 본 논문에서는 배경과 물체 사이에서 변화하는 색상의 변화를 퍼지기법을 이용하여 물체를 배경과 분리하여 실시간으로 물체를 추적하고자 한다. 실시간 물체 추적을 위해 전체영상에 대한 전역적 탐색을 통해 여러 후보 물체 중 관심물체를 배경에서 추출 후, 추출된 물체의 크기에 따른 지역탐색을 통하여 물체를 추적하는 방법이다. 그리고 본 논문에서는 ARM 프로세서를 이용한 카메라시스템을 제작하여 실시간으로 영상분활을 실험하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
• /
• pp.30-34
• /
• 1998

Path Planning is one of the important fields in robot technologies. Local path planning may be done in on-line modes while recognizing an environment of robot by itself. In dynamic environments to obtain fluent information for environments vision system as a sensing equipment is a one of the most necessary devices for safe and effective guidance of robots. If there is a predictor that tells what future sensing outputs will be, robot can respond to anticipated environmental changes in advance. The tracking of obstacles has a deep relationship to the prediction for safe navigation. We tried to deal with active contours, that is snakes, to find out the possibilities of stable tracking of objects in image plane. Snakes are defined based on energy functions, and can be deformed to a certain contour form which would converge to the minimum energy states by the forces produced from energy differences. By using point algorithm we could have more speedy convergence time because the Brent's method gives the solution to find the local minima fast. The snake algorithm may be applied to sequential image frames to track objects in the images by these characteristics of speedy convergence and robust edge detection ability.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
• /
• 제48권10호
• /
• pp.562-570
• /
• 1999

In the industrial motor drive system which is composed of a motor and load connected with a flexible shaft, a torsional vibration is often generated because of the elastic elements in torque transmission. This vibration, which is generated in a two-mass mechanical system. To solve this problem, recently there has been a lot of researches for the robust control relevant to the $H_{\infty}$ control suppressing the torsional vibration and rejecting the torque disturbance. In the case of the $H_{\infty}$controller, however, the command tracking property becomes worse because of overshoot during transient response. For this reason the $H_{\infty}$ controller, which includes the two-degrees-of-freedom(TDOF) controller, is designed in order to improve command tracking property. However, it also includes complexity realizing this controller. In this paper, a new $H_{\infty}$ controller with partial state feedback is proposed. Proposed $H_{\infty}$controller has simple structure but satisfies with the fast command tracking property and the attenuation of disturbances and vibrations simultaneously, just like the complicated TDOF $H_{\infty}$ controller.