• 조명전기설비학회논문지
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• 제30권2호
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• pp.78-84
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• 2016

This paper is focused on the measurement and analysis of an atmospheric electric field which is caused by thunderclouds. The electric field due to thunderclouds changes very slowly. For this reason, the extremely low frequency E-field sensor needs to be used for measuring the atmospheric electric field strength. The balloon-carried E-field sensor system with the time constant of 1sec was designed and fabricated. The electric field sensor consists of $100mm{\times}100mm$ copper plate, active integrator, high pass and low pass filters and batteries. The measurements of atmospheric electric fields were made by the balloon-carried E-field sensor and radiosonde, which sends the data back to ground in real time. From the calibration experiments, the response sensitivity of the E-field sensor was 0.154mV/kV/m in the frequency range of less than 1kHz. As a result from the actual experiment of the atmospheric electric field, the electric field signals were observed from the altitude of about 2.5km. Also, as the altitude was increased, the detected electric field wave oscillated with the fluctuation of sensing plate. The proposed method seems suitable for measurements of atmospheric electric fields, because it is inexpensive, simple to use and launch.

• 한국정밀공학회지
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• 제21권8호
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• pp.73-82
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• 2004

In this paper, implementation of obstacle avoidance of a nonholonomic mobile robot in unstructured environment is introduced. To avoid obstacles, first, a reference collision-free path for the MR is generated off-line using HJB-based optimal path planning method. A controller is designed using integrator backstepping method for tracking the generated reference path. To implement the designed controller, a control system are needed and composed of camera system and PIC-based controller. The workspace is observed by a ceiling-mounted USB camera as part of an un-calibrated camera system. Thus the positional information of the MR is updated frequently and the MR can get the useful inputs for its tracking controller. The whole control system is realized by integrating a computer with PIC-based microprocessor using wireless communication: the image processing control module and path planning module serve as high level computer control while the device control serves as low level PIC microprocessor control. The simulation and experimental results show the effectiveness of the designed control system.

• 조명전기설비학회논문지
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• 제28권10호
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• pp.63-68
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• 2014

This paper deals with a methodology that applies the time-varying magnetic fields produced by the cloud discharges to find the direction of thunderstorm movement. We investigated the basic performance of the magnetic field measurement system composed of multi-turn loop-type sensors, the differential amplifier and active integrator. As a result, the response characteristics of the magnetic field sensor system to sinusoidal signals was excellent. The frequency bandwidth ranges from about 1 kHz to 500 kHz, the response sensitivity was 0.16mV/nT. In addition, we proposed the algorithm that determines the direction of lightning discharges using the comparison of the output signals of right-angled loop-type magnetic field sensors. The accuracy of the direction finding of lightning discharges is fairly well within the measurement error of less than $5^{\circ}$. The magnetic field measurement system proposed in this work can be used to track the direction of thunderstorm movement.

• Journal of Power Electronics
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• 제17권1호
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• pp.262-271
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• 2017

This paper studies the performances of five typical Phase-locked Loops (PLLs) for distorted and unbalanced grid, which are the Decoupled Double Synchronous Reference Frame PLL (DDSRF-PLL), Double Second-Order Generalized Integrator PLL (DSOGI-PLL), Double Second-Order Generalized Integrator Frequency-Lock Loop (DSOGI-FLL), Double Inverse Park Transformation PLL (DIPT-PLL) and Complex Coefficient Filter based PLL (CCF-PLL). Firstly, the principles of each method are meticulously analyzed and their unified small-signal models are proposed to reveal their interior relations and design control parameters. Then the performances are compared by simulations and experiments to investigate their dynamic and steady-state performances under the conditions of a grid voltage with a negative sequence component, a voltage drop and a frequency step. Finally, the merits and drawbacks of each PLL are given. The compared results provide a guide for the application of current control, low voltage ride through (LVRT), and unintentional islanding detection.

• 한국생산제조학회지
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• 제24권4호
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• pp.414-420
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• 2015

In this study, the linear quadratic Guassian loop transfer recovery (LQG/LTR) control technique was combined with an integrator and applied to an inchworm having piezoelectric actuators for precise motion tracking. The piezoelectric actuator showed nonlinear response characteristics, including hysteresis, due to its ferroelectric characteristics and the residual displacement phenomenon. This paper proposes a feedback control scheme using the LQG/LTR controller with an integrator to improve the ability to track the response to complex input signals and to suppress the phenomenon of hysteresis and residual vibration. Experimental results show that the developed feedback control system for an inchworm can track the various motion contours quickly without residual vibration or overshoot.

• 대한기계학회논문집A
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• 제35권12호
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• pp.1607-1612
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• 2011

본 논문에서는 솔레노이드 밸브의 동특성 분석 후, 적분기가 추가된 LQG/LTR 제어기를 설계한다. 솔레노이드 밸브의 동특성은 백색잡음 입력 신호에 대한 출력응답을 측정하여 얻은 주파수 응답과 커브피팅을 통해 규명된다. 본 논문에서 적분기가 추가된 LQG/LTR 제어의 목적은 시스템의 응답성을 향상시킬 뿐만 아니라 복잡한 입력신호에 대한 추종 능력도 향상시키는 것이다. 마지막으로 실험을 통해 제어기의 성능이 검증되며, 성능이 향상되었음을 확인할 수 있다.

• 대한전자공학회논문지SP
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• 제39권1호
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• pp.87-96
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• 2002

본 논문에서는 소프트웨어 라디오 수신기의 programmable down converter(PDC) 구현을 위한 효율적인 데시메이션 필터 구조를 제안한다. 제안된 데시메이션 필터는 개선된 cascaded integrator-comb(CIC)필터, cascaded comb, modified halfband 필터 및 halfband 필터, 프로그램 가능한 FIR 필터로 이루어져 있다. 새롭게 제안된 구조는 보상필터를 사용하여 CIC 필터의 통과대역 주파수 감쇠를 보완하고 aliasing억제 능력을 높여, CIC 필터에서 더욱 많은 데시메이션을 담당하도록 설계되었다. 또한 CIC의 보상필터로 인해 cascaded comb 및 modified halfband 필터를 사용 가능토록 하였다. 이러한 구조는 곱셈기가 필요 없기 때문에 연산량을 줄일 수 있고, FIR 필터의 계수를 줄일 수 있다. 실제 구현에서는 기존의 해리스사의 하드웨어에 비해, 곱셈 연산시 연산자 개수는 약 20%, 연산량은 약 50%의 복잡도를 줄일 수 있었다.

• 전자공학회논문지SC
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• 제47권2호
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• pp.8-15
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• 2010

본 논문은 비선형 시스템에 대하여 강인한 고이득 관측기 설계 방법을 제안하였고 그것의 안정성을 리아푸노프 이론을 기반으로 분석하였다. 그 시스템의 상태는 측정 할 수 없다고 가정하였다. 제안된 고이득 관측기는 역학식에 추정 오차의 적분을 포함한다. 그것은 고이득 관측기의 성능을 향성시키고 제안된 관측기가 잡음, 불확실성, 피킹 현상과 같은 것들에 대해 강인하도록 만든다. 그것의 안정성은 리아푸노프 방법에 의해 분석된다. 이를 출력 되먹임 제어기에 적용하였고 모의실험 결과를 통해 기존의 관측기기반의 출력 되먹임 제어기, 상태 되먹임 제어기와 비교하여 제안된 방법의 효율성을 증명하였다.

• Journal of Power Electronics
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• 제16권5호
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• pp.1939-1949
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• 2016

This paper presents an alternative frequency adaptive grid synchronization technique named HDN-FLL, which can accurately extract the fundamental positive- and negative-sequence components and interested harmonics in adverse three-phase grid voltage. The HDN-FLL is based on the harmonic decoupling network (HDN) consisting of multiple first order complex vector filters (FOCVF) with a frequency-locked loop (FLL), which makes the system frequency adaptive. The stability of the proposed FLL is strictly verified to be global asymptotically stable. In addition, the linearization and parameters tuning of the FLL is also discussed. The structure of the HDN has been widely used as a prefilter in grid synchronization techniques. However, the stability of the general HDN is seldom discussed. In this paper, the transfer function expression of the general HDN is deduced and its stability is verified by the root locus method. To show the advantages of the HDN-FLL, a simulation comparison with other gird synchronization methods is carried out. Experimental results verify the excellent performance of the proposed synchronization method.

• 한국정밀공학회지
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• 제34권4호
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• pp.265-272
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• 2017

Velocity ripple in manufacturing processes reduces productivity and limits the precision of the product. In practice, the frequency and phase of velocity ripples always change minutely, which makes it impossible to compensate for the ripple by simply inserting an opposite feed-forward signal in the system. In this study, an active-phase compensation algorithm was developed to enable the velocity-ripple controller to track the phase change of the ripples in real time. The proposed controller can compensate for the velocity ripple whatever its cause, including disturbance by the torque ripple. The algorithm consists of three functional modules: the velocity-ripple extractor, the synchronized integrator, and the phase shifter. Experimental results showed that the proposed controller clearly reduces velocity ripples with phase variation.