• 한국통신학회논문지
• /
• 제27권11C호
• /
• pp.1164-1170
• /
• 2002

ACE2000 MPLS시스템에서 MPLS 정합모듈은 ATM 정합모듈과 패킷 포워딩을 수행하는 HFMA(High performance Forwarding Engine and VC Merging board Assembly)모듈로 구성된다. MPLS 정합모듈에서 물리층으로 입력되는 셀은 HFMA의 송신 SAR칩(RSAR)에서 패킷으로 조립된 후 IP룩업 제어기에서 패킷 포워딩을 수행한다. 포워딩된 패킷은 ATM 계층으로 전달되기 위해 수신 SAR칩(TSAR)에서 셀로 다시 세그먼트된 후 ATM 셀 스위치로 전송하기 위해 ALMA(ATM Layer Module Assembly)로 전달된다. MPLS 정합모듈을 ATM 정합보듈로 이용할 때, ALMA는 직접 물리층 보드와 UTOPIA Leve12 인터페이스로 연결되며, 이때 ALMA는 Master Mode로 동작하게 된다 또한 MPLS 정합모듈에서 HFMA TSAR도 Master Mode로 동작하게 된다. 따라서 2개의 Master 모드 사이에서 인터페이스 역할을 수행할 수 있는 Slave 모드의 UTOPIA-L2 Controller가 요구된다. 본 논문에서는 Multi-Ports를 지원할 수 있는 UTOPIA-L2 Controller의 구조 및 셀 제어방법에 대해 고찰해본다.

• 제어로봇시스템학회논문지
• /
• 제12권9호
• /
• pp.926-934
• /
• 2006

This paper proposes intelligent control of a virtual walking machine that can generate infinite floor for various surfaces and can provide proprioceptive feedback of walking to a user. This machine allows users to participate in a life-like walking experience in virtual environments with various terrains. The controller of the machine is implemented hierarchically, at low-level for robust actuator control, at mid-level fur platform control to compensate the external forces by foot contact, and at high-level control for generating walking trajectory. The high level controller is suggested to generate continuous walking on an infinite floor for various terrains. For the high level control, each independent platform follows a man foot during the swing phase, while the other platform moves back during single stance phase. During double limb support, two platforms manipulate neutral positions to compensate the offset errors generated by velocity changes. This control can, therefore, satisfy natural walking conditions in any direction. Transition phase between the swing and the stance phases is detected by using simple switch sensor system, while human foot motions are sensed by careful calibration with a magnetic motion tracker attached to the shoe. Experimental results of walking simulations at level ground, slope, and stairs, show that with the proposed machine, a general person can walk naturally on various terrains with safety and without any considerable disturbances. This interface can be applied to various areas such as VR navigations, rehabilitation, and gait analysis.

• 드라이브 ㆍ 컨트롤
• /
• 제17권4호
• /
• pp.80-86
• /
• 2020

Autonomous driving is one of the most important new technologies of our time; it has benefits in terms of safety, the environment, and economic issues. Path following algorithms, such as automated lane keeping systems (ALKSs), are key level 3 or higher functions of autonomous driving. Pure-Pursuit and Stanley controllers are widely used because of their good path tracking performance and simplicity. However, with the Pure-Pursuit controller, corner cutting behavior occurs on curved roads, and the Stanley controller has a risk of divergence depending on the response of the steering system. In this study, we use the advantages of each controller to propose a hybrid control strategy that can be stably applied to complex driving environments. The weight of each controller is determined from the global and local curvature indexes calculated from HD map information and the current driving speed. Our experimental results demonstrate the ability of the hybrid controller, which had a cross-track error of under 0.1 m in a virtual environment that simulates K-City, with complex driving environments such as urban areas, community roads, and high-speed driving roads.

• Journal of Electrical Engineering and Technology
• /
• 제6권1호
• /
• pp.104-110
• /
• 2011

High-brightness LED control is required for stable operation, thus the driver and control system must be designed to deliver a constant current to optimize reliability and ensure consistent luminous flux. In this paper, the sliding mode current controller is designed to adjust the illumination density of power LEDs. The controller design model of power LEDs, including its driving circuit, is proposed to realize the dimming control of power LEDs. A buck converter is introduced to drive the power LEDs and reduce the input voltage to a lower level. The sliding mode software controller is implemented to adjust the dimming of power LEDs. The proposed strategy for driving power LEDs is investigated and comparatively studied by experiments.

• International Journal of Aeronautical and Space Sciences
• /
• 제10권2호
• /
• pp.12-22
• /
• 2009

This paper deals with the State-Dependent Riccati Equation (SDRE) Technique for the design of rotorcraft waypoint guidance. To generate the flight trajectory through multiple waypoints, we use the trigonometric spline. The controller design and its validation is based upon a level 2 simulation rotorcraft model and the designed SDRE controller is applied to the trajectory tracking problems. To verify the designed guidance law, the simulation environment of high fidelity rotorcraft model is developed using three independent PCs. This paper focuses on the validation of rotorcraft waypoint guidance law which is designed by using SDRE Controller.

• Journal of Power Electronics
• /
• 제15권2호
• /
• pp.443-454
• /
• 2015

This study proposes a novel one-cycle control scheme with a plug-in repetitive controller for load compensator. The novelty of this scheme lies in the combination of high dynamics and the simplicity of a one-cycle controller and good steady-state harmonic suppression ability of the repetitive controller. In addition, the proposed scheme can reduce the effect of the harmonics in phase voltage for the existence of the repetitive controller. Finally, experimental results on a three-phase, four-wire, three-level load compensator are reported to validate the effectiveness of the proposed control scheme.

• Advances in aircraft and spacecraft science
• /
• 제10권4호
• /
• pp.369-391
• /
• 2023

In our research we have offered a solid solution for aeronautical analysis. which can guarantee the asymptotic stability of coupled nonlinear facilities. According to the theoretical solutions and methods presented, the engine of this aircraft is a small high-bypass turbofan engine. using the non-linear aero-motor control approach and this paper focuses on the power management function of the aero-motor control system. These include static controls and transient controls. A mathematical model of the high-bypass-ratio two-spool unmixed-flow aeroengine was developed through a set of nonlinear dynamic equations verified by experimental data. A single actuator using the displacement method is designed to maintain a certain level of thrust under steady-state conditions. and maintains repeatable performance during transient operation from the requested thrust phase to the next. A single controller can compensate for the effects of noise and harmonic noise at many performance points. And the dynamic performance of a single controller is satisfactory during the transient. for fairness Numerical and computer experiments are described in the perfection of the methods we offer in research.

• 전력전자학회논문지
• /
• 제19권2호
• /
• pp.99-105
• /
• 2014

This paper proposes the reliability improvement of H-Bridge Multi-level (HBM) inverter. This reliability can be implemented through modularization of power circuit, distribution of controller, duplication of controller and communication, and continuous operation method in case of power cell failure for driving medium-voltage & high-power induction motor. It is shown that the modularization and expansion characteristics of the HBM inverter are improved since the individual inverter modules operate more independently when using the proposed concept. Also the fault tolerance is increased by using power cell bypass. The proposed design and control methods are described in detail and the validity of the proposed system is verified experimentally in various industrial fields.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1022-1027
• /
• 2003

The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.

• Advances in aircraft and spacecraft science
• /
• 제5권2호
• /
• pp.225-237
• /
• 2018

The difficulties of satellite vibration testing are due to the commonly expressed qualification requirements being incompatible with the limited performance of the entire controlled system (satellite + interface + shaker + controller). Two features cause the problem: firstly, the main satellite modes (i.e., the first structural mode and the high and low tank modes) are very weakly damped; secondly, the controller is just too basic to achieve the expected performance in such cases. The combination of these two issues results in oscillations around the notching levels and high amplitude beating immediately after the mode. The beating overshoots are a major risk source because they can result in the test being aborted if the qualification upper limit is exceeded. Although the abort is, in itself, a safety measure protecting the tested satellite, it increases the risk of structural fatigue, firstly because the abort threshold has been already reached, and secondly, because the test must restart at the same close-resonance frequency and remain there until the qualification level is reached and the sweep frequency can continue. The beat minimum relates only to small successive frequency ranges in which the qualification level is not reached. Although they are less problematic because they do not cause an inadvertent test shutdown, such situations inevitably result in waiver requests from the client. A controlled-system analysis indicates an operating principle that cannot provide sufficient stability: the drive calculation (which controls the process) simply multiplies the frequency reference (usually called cola) and a function of the following setpoint, the ratio between the amplitude already reached and the previous setpoint, and the compression factor. This function value changes at each cola interval, but it never takes into account the sensor signal phase. Because of these limitations, we firstly examined whether it was possible to empirically determine, using a series of tests with a very simple dummy, a controller setting process that significantly improves the results. As the attempt failed, we have performed simulations seeking an optimum adjustment by finding the Least Mean Square of the difference between the reference and response signal. The simulations showed a significant improvement during the notch beat and a small reduction in the beat amplitude. However, the small improvement in this process was not useful because it highlighted the need to change the reference at each cola interval, sometimes with instructions almost twice the qualification level. Another uncertainty regarding the consequences of such an approach involves the impact of differences between the estimated model (used in the simulation) and the actual system. As limitations in the current controller were identified in different approaches, we considered the feasibility of a new controller that takes into account an estimated single-input multi-output (SIMO) model. Its parameters were estimated from a very low-level throughput. Against this backdrop, we analyzed the feasibility of an LQG control in cancelling beating, and this article highlights the relevance of such an approach.