• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.50.6-50
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• 2002

In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a teleoperated mobile robot equipped with camera, the teleoperated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approachin...

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.9
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• pp.1700-1707
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• 2011

Interior permanent magnet synchronous motor(IPMSM) adjustable speed drives offer significant advantages over induction motor drives in a wide variety of industrial applications such as high power density, high efficiency, improved dynamic performance and reliability. Since the fuzzy neural network(FNN) is recognized general approximate method to control non-linearities and uncertainties, the development of FNN control systems have also grown rapidly. The FNN controller is compounded of fuzzy and neural network. It has an advantage that is the robustness of fuzzy control and the ability to adapt of neural network. However, the FNN has static problem due to their feed-forward network structure. This paper proposes high performance speed control of IPMSM drive using the recurrent FNN(RFNN) which improved conventional FNN controller. The RFNN has excellent dynamic response characteristics because of it has internally feed-back structure. Also, this paper proposes speed estimation of IPMSM drive using ANN. The proposed method is analyzed and compared to conventional FNN controller in various operating condition such as parameter variation, steady and transient states etc.

• 한국연소학회:학술대회논문집
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• 2015.12a
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• pp.131-134
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• 2015

국내 천연가스 열량제도를 현행 표준 열량제 $10,400kcal/Nm^3(43.54MJ/Nm^3)$에서 중간 조정기간을 두고 2012.07.01부터는 최저 $10,100kcal/Nm^3(42.28MJ/Nm^3)$을 유지하고 2015년 이후 $9,800(41.1MJ/Nm^3){\sim}10,600kcal/Nm^3(44.4MJ/Nm^3)$ 열량범위제도로 변경 추진되고 있다. 산업현장에서 열량변동을 측정하여 공연비 제어기술을 개발하고자 60ton Al 용해로에 열량대응기술 개발을 위한 내용으로 열량측정시스템설치 및 열량 값과 연계하여 공연비 제어기술개발연구 내용으로 결과는 다음과 같다. 단순히 표준열량으로 에 맞춰 프로그램된 제어로직에 열량변동에서 검출된 신호를 이용하여 연료보정 값을 추가한 로직을 재구성할 필요가 있다. 이 혀장의 경우는 용탕의 온도가 목표온도 근처까지 올리기가 어려워진 상황으로 주로 공급열량 저열량화에 따른 과잉공기영향으로 온도상승이 어려워 보이며 적절한 공연비로 최적화 되면 이러한 문제가 개선되리라 생각된다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.462-466
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• 1997

Proportional directional control valves (PDCVl adjust the amount of flow as well as flow direction in response to an electrical signal. This valves includes direct operated valves with or without spool position feedback. This paper investigates if it is possible to control pressure of fluids by means of the PDCV. A pressure signal is feed back to the Proportional-Integral (PI) controller, which is based upon a personal computer (PC). The PI control algorithm is implemented in a graphical programming language of LabVIEW. The results of experiments show the PDCV can be used a multi function valve of pressure control as well as direction control.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.397-402
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• 2016

This paper proposes a robust tracking control for constrained uncertain linear systems by combining a disturbance observer (DOB) and linear matrix inequality (LMI) based state feedback control. To this end, the state feedback control is designed for the nominal system and then a DOB based feed-forward control is added to reject uncertainties. In doing so, the DOB and state feedback controller are joined in a way that the combined control satisfies the input constraints and closed loop stability is guaranteed. Simulation results are provided to show that the proposed control scheme successfully stabilizes uncertain systems.

• Journal of Power Electronics
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• v.14 no.5
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• pp.1047-1056
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• 2014

In most grid-connected inverters (GCI) with an LCL filter, since the design of both the LCL filter and the controller is done separately, considerable tuning efforts have to be exerted when compared to inverters using an L filter. Consequently, an integrated co-design of the filter and the controller for an LCL-type GCI is proposed in this paper. The control strategy includes only a PI current controller and a proportional grid voltage feed-forward controller. The capacitor is removed from the LCL filer and the design procedure starts from an L-type GCI with a PI current controller. After the PI controller has been settled, the capacitor is added back to the filter. Hence, it introduces a resonance frequency, which is identified based on the crossover frequencies to accommodate the preset PI controller. Using the proposed co-design method, harmonic standards are satisfied and other practical constraints are met. Furthermore, the grid voltage feed-forward control can bring an inherent damping characteristic. In such a way, the good control performance offered by the original L-type GCI and the sharp harmonic attenuation offered by the latter designed LCL filter can be well integrated. Moreover, only the grid current and grid voltage are sensed. Simulation and experimental results verify the feasibility of the proposed design methodology.

• Journal of Animal Science and Technology
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• v.45 no.3
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• pp.409-420
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• 2003

This experiment was carried out to investigate effects of fermented feedstuff added Saccharomyces cerevisiae(FFSC) on growth performance and carcass grade of growing Hanwoo bulls. Twenty six Hanwoo bulls averaging 230$\pm$24kg were randomly assigned within two dietary treatments which were control and FFSC. Average daily gain and feed intake were significantly higher in FFSC compared with control during growing, fattening and finishing period. Feed conversion was improved in FFSC compared with control during fattening and finishing period. During the whole experimental period, average daily gains were 1.06 and 0.98kg in FFSC and control, respectively, and it indicated that 19% was improved in FFSC compared with control(P<0.05). Feed intake was not significantly different between treatments during whole experimental period. In addition, feed conversion was not significantly different between treatments, there was a tendency to be beneficially increased about 7% in FFSC compared with control. There was no differences on yield traits including carcass weight, dressing, back fat thickness, rib-eye area and meat production between treatments. Marbling score was improved in FFSC compared with control(P<0.05). Appearances of ‘A’ ranked meat quantity were 44.4 and 25.0% in FFSC and control, respectively. Only FFSC had ‘1’ ranked appearance, but there was no ‘1’ ranked appearance in the control.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.631-636
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• 1987

The design of ultrasonic transducer energy processing systems requires highly reliable command featuring mechanical frequency tracking and constant velocity control of the ultrasonic transducer with an acoustic load. This paper presents a new conceptional instantaneous current resultant control base high-frequency inverter using self turn-off devices driving an electrostrictive ultrasonic transducer system and its optimum control technique, which is implemented by feed-back of the ultrasonic transducer applied voltage and instantaneous velocity of the transducer vibrating system through a Phase-Locked-Loop control scheme. The feedback voltage corresponding to instantaneous velocity is averaged over a half-period with respect to constant amplitude/constant velocity control strategy. Described are the theory of this signal detection technique and the experimental set-up.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.6
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• pp.52-60
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• 2012

Minimizing the cylinder wear and the consumption rate of cylinder oil in a large two-stroke diesel engine is of great economic importance. A motor-driven cylinder lubricator for Sulzer RT-flex large two-stroke diesel engines developed by authors is in need of modifying the lubricating system to lubricate cylinder parts optimally by an electronically controlled quill device according to changes of engine load and revolution speed. In order to apply the developed accumulating distributor to an integrated cylinder lubricator by the electronically controlled system as the third research stage, the lubricating system is improved in the electronically controlled quill device with a solenoid valve. In this study, the effects of lubricator revolution speed, driving pressure and cylinder back pressure on oil feed rate, maximum discharge and delivery pressures are experimentally investigated by using the integrated cylinder lubricator system with an accumulated distribution by the electronic control. It is found that the oil feed rate of the developed integral cylinder lubricator system is less than that of the motor-driven cylinder lubricator by the electronically controlled quill system equipped with an accumulating distributor because of the decrease of delivery speed by increasing the maximum delivery pressure in the same experimental condition.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.39.4-39
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• 2002

This paper presents a design and implementation of a PID feedback control loop for micro gyroscope. The feedback control loop improves the gyroscope performance such as linearity, bandwidth, and bias stability for micro gyroscope which is basically a high-Q system and exhibits a low performance with an open loop control. The designed and implemented feed-back control loop is applied to the SNU-Bosch MEMS gyroscope to demonstrate the improvement with the feedback control loop. The bandwidth is improved to 60Hz from 25Hz of open loop control. The linearity becomes 0.5% from 1%. The bias stability is improved to 0.03 deg/sec from 0.06 deg/sec.