• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.148-154
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• 2009

In this paper, an embedded Kalman filter for a time-delayed controller is designed on an FPGA to estimate accelerations of the robot arm. When the time-delayed controller is used as a controller, the inertia estimation along with accelerations is needed to form the control law. Although the time-delayed controller is known to be robust to cancel out uncertainties in the nonlinear systems, performances are very much dependent upon estimating the acceleration term ${\ddot{q}}(t-{\lambda})$ along with inertia estimation ${\hat{D}}(t-{\lambda})$. Estimating accelerations using the finite difference method is quite simple, but the accuracy of estimation is poor specially when the robot moves slowly. To estimate accelerations more accurately, various filters such as the least square fit filter and the Kalman filter are introduced and implemented on an FPGA chip. Experimental studies of following the desired trajectory are conducted to show the performance of the controller. Performances of different filters are investigated experimentally and compared.

• 대한조선학회지
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• 제12권2호
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• pp.3-12
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• 1975

As for two dimensional added mass coefficients for straight framed hull forms in a free surface of an ideal fluid, theoretical calculations by F.M. Lewis, vertical, K. Wendel, J.H. Hwang, and etc. are available; vertical modes of rectangular and triangle sections by Lewis, vertical, horizontal and torsional models of rectangular and triangle section by Wendel, and systematical calculations for vertical modes of single chine forms by Hwang. In this paper, employing the conformal transformation by which a unit circle and its exterior region can conformally mapped to a polygon and its exterior region, the author calculated two dimensional added inertia coefficients systematically for straight framed sections with single chine in horizontal and torsional modes of vibrations. As the results, it was found that sloping side angle is an important factor measuring the magnitude of two dimensional added inertia coefficient for a set of given values of the sectional area coefficient and the beam-draft ratio. To grasp it cleary in physical sense, pressure distributions are investigated for some typical section contours. The numerical results are presented graphically in the form of two dimensional added sectional area coefficients with beam-draft ratios and sloping side angles as parameters, so that the data may conveniently utilized for estimation of the added inertia coefficients based on a three parameter technique.

• Journal of Electrical Engineering and Technology
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• 제10권5호
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• pp.1969-1982
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• 2015

The virtual inertia control (VIC) of wind turbine with directly-driven permanent-magnet synchronous generator (D-PMSG) can act similarly to the conventional synchronous generator in inertia response and frequency control, thereby supporting the system frequency stability. However, because the wind speed is inconstant and changeable to a certain extent and the D-PMSG is a complex nonlinear system, there are great difficulties in the virtual inertia optimal control of the D-PMSG. Based on the design principle of the active disturbance rejection control (ADRC), this paper presents a new VIC strategy for the D-PMSG from the perspective of power disturbance suppression in the system. The strategy helps fulfill the power grid disturbance estimation and compensation by means of the extended state observer (ESO) so as to improve the disturbance-resisting performance of the system. Compared with conventional proportional-derivative virtual inertia control (PDVIC), this method, which is of better adaptability and robustness, can not only improve the property of the D-PMSG responding to the system frequency but also reduce the influence of wind speed disturbance. The simulation and experiment results have verified the effectiveness and feasibility of the VIC based on the ADRC.

• Journal of Electrical Engineering and Technology
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• 제12권4호
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• pp.1442-1448
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• 2017

Recently, electric power systems have been operating with tight margins and have reached their operational limits. Many researchers consider a microgrid as one of the best solutions to relieve that problem. The microgrid is generally powered by renewable energies that are connected through power converters. In contrast to the rotational machines in the conventional power plants, the converters do not have physical rotors, and therefore they do not have rotational inertia. Consequently, a stand-alone microgrid has no inertia when it is powered by the only converter-based-generators (CBGs). As a result, the relationship between power and frequency is not valid, and the grid frequency cannot represent the power balance between the generator and load. In this paper, a superconducting flywheel energy storage system (SFESS) is applied to an inertia-free stand-alone (IFSA) microgrid. The SFESS accelerates or decelerates its rotational speed by storing or releasing power, respectively, based on its rotational inertia. Then, power in the IFSA microgrid can be balanced by measuring the rotor speed in the SFESS. This method does not have an error accumulation problem, which must be considered for the state of charge (SOC) estimation in the battery energy storage system (BESS). The performance of the proposed method is verified by an electromagnetic transient (EMT) simulation.

• 콘크리트학회논문집
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• 제21권1호
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• pp.93-103
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• 2009

철근콘크리트 휨 부재의 처짐 산정에는 일반적으로 유효 단면2차모멘트의 개념이 적용되고 있으며, 콘크리트 구조설계기준에서는 처짐의 간편한 계산을 위하여 Branson이 제안한 유효 단면2차모멘트를 부재의 전 경간에 동일하게 대표값으로 사용하고 있다. 그러나, 기준에서 제시된 유효 단면2차모멘트는 등분포하중을 전제로 제안되었으므로 다른 하중상태에서도 기준식의 정확성에 대해 검증할 필요가 있다. 따라서, 이 연구에서는 모멘트 분포 형상이 처짐 계산에 필요한 유효 단면2차모멘트에 미치는 영향을 실험적으로 검증하기 위해 콘크리트 강도와 지점에서부터 가력점까지의 거리를 주요변수로 하여 총 6개의 철근콘크리트 보 실험체를 제작하여 구조실험을 수행하고, 실험결과를 기준식 및 다른 연구자들이 제안한 식과 비교 분석하였다. 또한, 모멘트 분포형상을 고려할 수 있는 변분해석에 의한 처짐 산정 방법을 제안하였다. 실험 결과, 보의 유효 단면2차모멘트는 모멘트 분포 형상에 따라 다소 차이가 있었으나 기준식은 이를 반영하지 못한 것으로 나타났다. 이 연구에서 제안한 변분해석에 의한 처짐값과 실험값의 비율이 기준식에 비해 변동폭이 작게 나타났으며, 따라서, 모멘트 분포 형상의 영향을 고려한 부재의 처짐 산정에 유용한 방법이라고 판단된다. 그러나, 실험값과는 다소 차이가 있어 처짐 형상 함수의 개선을 통하여 이를 보완할 수 있는 추후 연구가 필요한 것으로 판단된다.

• 지식경영연구
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• 제14권1호
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• pp.73-94
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• 2013

Customer's purchase state consists of purchase inertia and variety-seeking. As the growing brand familiarity triggers the increase of brand attractiveness, customers purchase state will be of inertia. However the excessively growing brand familiarity ignites the decrease of brand attractiveness. Followingly the purchase state will be tend to plunge into the variety-seeking state. The main topic of this study is to validate the asymmetric formation of customer's purchase states between inertia and variety-seeking. In order to follow up the main topic, this article introduces a model to freely describe the velocity of value changes depending upon the purchase states. This model will help overcome the limitation of the past studies having been based on the symmetric value changes. Based on this approach marketer will be able to decide the timing of sales promotions. This research utilized local telecommunication carrier's database of smartphone application purchase/download records. This database was collected from two years (2009 and 2010) span, the time when the smartphones started commodifying in Korea whilst most of the past studies had used purchase data of maturity stage products. From this approach utilizing the introduction stage data in the product life cycle, the probability of brand choice depending upon the purchase state on the early-stage can be probed. Moreover, this study tries to expand the research methodology from the other areas of research by knowledge sharing. Here this study introduces the methodology of section-aggregated multinomial logit to simultaneously estimate the parameters that were included in the plural multinomial logit functions while the plural functions were inter-connected. This adoption of section-aggregated multinomial logit model procedures from the computerized statistics areas is expected to nourish the marketing research for more precise analysis and estimation of effects of marketing activities.

• 한국산업융합학회 논문집
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• 제22권5호
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• pp.575-582
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• 2019

Advanced driving assist system can support safety of driver and passengers which may require vehicle dynamics states as well as road geometry. It is essential to have in real-time estimation of related variables and parameters. Among the road geometry parameters, road slope angle which can not be measured is essential parameter in pose estimation, adaptive cruise control and others on sag road. In this paper, Kalman filter based method for the estimation of the vehicle dynamics and road slope angle using a nonlinear vehicle model is proposed. It uses a combination of Kalman filter as Cascade Extended Kalman Filter. CEKF uses measured vehicle states such as yaw rate, longitudinal/lateral acceleration and velocity. Unknown vehicle parameters such as center of gravity and inertia are obtained by 2 D.O.F lateral model and experimentally. Simulation and Experimental tests conducted with commercialized vehicle dynamics model and real-car.

• 대한기계학회논문집A
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• 제41권3호
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• pp.205-211
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• 2017

차량제어의 고도화에 의해, 자동 대열 주행 제어와 같은 정밀한 제어의 필요성이 더욱 높아지고 있다. 정밀 제어를 수행하기 위해서는 차량제어에 필요한 차량 파라미터를 항상 파악하는 것이 중요하다. 특히 화물 운송용 트럭의 경우, 화물 적재 상태에 따라 차량 질량과 차량 관성모멘트 등의 차량 파라미터가 크게 변화한다. 따라서 미지의 파라미터가 있을 경우, 실시간으로 파라미터 추정하여 제어시스템에의 반영이 요구된다. 본 연구에서는 차량이 곡선 주행할 때에 차량의 조향제어에 중요한 차량 파라미터 중 하나인 요관성모멘트에 대하여 Dual Kalman filter알고리즘과 GPS센서를 이용하여 차량이 주행 중에 미지의 요관성모멘트 값을 실시간으로 추정할 수 있는 방법을 제안하고, 차량동역학 상용 프로그램을 이용한 시뮬레이션을 통해 추정방법의 타당성을 검토한다.

• 한국구조물진단유지관리공학회 논문집
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• 제14권2호
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• pp.184-192
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• 2010

철근콘크리트 구조물의 사용성을 검토할 때 처짐은 가장 중요한 사항 중 하나이며, 철근콘크리트 휨 부재의 처짐은 일반적으로 유효 단면2차모멘트의 개념을 적용하여 구해진다. 그러나 이미 사용중인 철근콘크리트 보에서 정확한 사용하중을 알기 어려운 경우에는 기존의 방법으로 처짐을 계산하는 것이 쉽지 않다. 따라서, 이 연구에서는 철근콘크리트 보에서 균열과 처짐은 상호 밀접한 관련이 있다는 사실을 바탕으로 작용하는 하중의 크기에 무관하게 철근 콘크리트 보 부재의 균열 상태로부터 처짐을 쉽게 산정할 수 있는 방법을 제안하고자 하였다. 균열폭의 합, 평균변형률 및 곡률 등의 관계를 이용하여 처짐식을 제안하였으며, 수정계수를 적용하여 보다 정확한 처짐식을 제안하고자 하였다. 이 제안식을 사용할 경우, 철근콘크리트 보에 작용하는 하중 크기에 무관하게 균열을 측정함으로써 처짐 추정치를 얻을 수 있으며, 유효 단면 2차 모멘트 값을 산출하여 처짐을 산정하는 기존의 방법에 비해 비교적 간단하게 처짐을 산출 할 수 있다.

• 대한조선학회지
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• 제9권1호
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• pp.1-6
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• 1972

To contribute towards more accurate estimation of the virtual coefficient for the vertical vibration of the chine-type ship, experimentally obtained three-dimensional correction factors, J, of added mass of prismatic beams having cross section shape of hypotrocoid characters, slightly concaved Lewis form and elliptic form are investigated in connection with the applicability of an approximate analytical calculation method compared to that proposed by T. Kumai[6] for the Lewis form cylinders, and synthetically in compared with the experimental works on various cross section shapes of the other type by L.C. Burril et al[8] and the analytical works on the ellipsoid of revolution by F.M. Lewis[1] and J.L. Taylor[2]. The experimental results show that the aforementioned analytical method gives, unlike that for the Lewis form cylinders, considerably larger J-values for the chine-type cylinders, and that the influence of the character of the cross section shape on J-values is not remarkable in practical sense. Finally, considering in synthesis the experimental results on prismatic beams, the Burril's works on palabolic plan form and elliptic plan form, and that the chine-type ship usually has a hull form of transom stern, it is fairly safe to say, at the present stage, that adoptation of the Taylor's J-values will not results in any large error in estimation of the virtual inertia coefficients of the chine-type ships.