• Journal of Korea Multimedia Society
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• v.16 no.2
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• pp.213-225
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• 2013

This paper proposes a design method of ball-plate robot controller using single camera and two motors to balance the ball on plate and reduce steady state control error. To design the ball-plate system, it is necessary to observe state of the ball and maintain balance of the plate. The state of the ball is tracked by using the CAMShift algorithm and position error of the ball is compensated by the Kalman filter. Balance of the plate is controlled by driving two motors and we used DC motors which has smaller measurement error. Due to surface condition of the plate or tracking error of ball's position, there are small errors remained. These errors are accumulated and disturb maintaining balance of the ball. To handle the problem, we propose a controller supplemented with an integrator.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1901-1905
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• 2004

A controller designed by CDM for a servo type system which is an augmented system constructed from a rotational inverted pendulum with an integrator added to its arm, is presented in this paper. In order to be able to apply the CDM concept, the augmented system must be linearized and converted into controllable canonical form. Then, the controller consisting of the state feedback gain matrix and an integral gain in the sense of CDM can be obtained. This shows that design procedure for the proposed controller is easy. The experimental results obtained from the rotational inverted pendulum controlled by the proposed controller show that the system response has no steady-state error, however, the oscillation amplitude of the arm angle is still significant. Therefore, in this paper, the friction compensation using Coulomb friction with stiction is also added to the controller. The oscillation amplitude of the arm angle that can be reduced remarkably is also shown in the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.520-523
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• 2004

A phase-locked loop control system designed by using the linear quadratic regulator approach is presented in this paper. The system thus designed is optimal system when system is in locked state and the parameter value of loop filter which is an active PI filter can be obtained easily. By considering the structure of loop filter of phase-locked loop is included in the process to be controlled, a type 1 servo system can be constructed when voltage control oscillator is considered as an integrator. The integral gain of the proposed system obtained by linear quadratic regulator approach can be used as an optimal value to design the parameter of loop filter. The implemented result in controlling the second-order lag pressure process by using the proposed scheme show that the system response is fast with no overshoot and no steady-state error. Furthermore, the experimental results are also shown in term of output disturbance effect rejection, tracking and process parameter changed.

• Proceedings of the IEEK Conference
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• 2004.08c
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• pp.658-662
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• 2004

This paper proposes an orthogonal reception structure for OS/SS communication with time-shifted m-sequences, and compares the performances of the proposed and conventional receiver. This structure provides two important characteristics to reference user signal with not only increment of auto-correlation value but also cancel of the cross-correlation value out to zero between the reference user and other user signals. In addition, the structure can be easily implemented with the conventional receiver adding an additional integrator path in parallel and an adder that sums the conventional path output and the new path output signal. Hence, the proposed structure can be applied for channel impulse response measurement, and efficiently used for multi-user interference signal cancellation and channel capacity increment by flexible structural inter-working operation, connection or disconnection, of the new path to conventional receiver structure.

• Journal of the Korean Institute of Telematics and Electronics
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• v.17 no.4
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• pp.45-52
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• 1980

In order to eliminate the phase errors caused by the finite GB product of operational amplifiers, novel integnator circuits are proposed. These circuits are characterized by their positive phase error angles and integrator selectivity. The positive sign of the Q and of the circuits compensates the negative selectivity and phase error angles, inherent in the integrated operational amplifiers. Miller inverting intergrator of a biquad circuit realized by Thomas is replaced by the proposed circuit and the band-pass frequency response of the modified biquad network is experimentally analyzed. A considerable improvement is recognized to such extent that the center frequency of the band-pass filter is allowed to be shifted up to 20KHz, which has been infeasible with conventional biquad networks.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.339-344
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• 1993

An H$_{\infty}$ control system design for a magnetic levitation system is presented. In the control system design, we consider the influence of both disturbances and uncertainties in the model. The main disturbances stem from the position sensors.The uncertainties are divided into electromagnetic and mechanical ones: the former are due to the gain change in the current amplifier, the influence of leakage flux and modelling error in the magnetic circuit and the latter are due to the changes of the mass and the moments of inertia of the vehicle. Therefore, the designed controller is indispensable to guarantee the robustness of this system for both stability and performance. The controller design is based on the standard H$_{\infty}$ optimal control problem. As the novel features in this paper :(1) there are two poles on j.omega.-axis in the control model;(2) an integrator is included in the controller so that equivalently there are three poles on j.omega.-axis in the model. Finally, several experiments and simulations are carried out to verify the high performance and robustness of the designed control system.m.

• Journal of Satellite, Information and Communications
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• v.6 no.1
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• pp.68-74
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• 2011

In this paper, we present the enhancement results such as availability and accuracy using the GPS L1 and Galileo E1 signal combination. To enhance the acquisition and tracking performance of signal processing in GNSS receiver. several tracking loops with integrator, discriminator, and loop filter module are applied. Also, this paper presents the performance comparison results between prototype receiver equipped with hardware board and software receiver. Also the tracking loop performance of real hardware receiver is verified by comparing with tracking accuracy, sensitivity occurred by the Spirent simulator. Especially, to process the Galileo E1 signal, it is used the a power early late type which is the typical type for DLL discriminator.

• Journal of Ocean Engineering and Technology
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• v.25 no.6
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• pp.116-122
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• 2011

A realtime simulator using an explicit integration method is introduced to improve the solving performance for the dynamic analysis of a wheeled vehicle. Because a full vehicle system has many parts, the development of a numerical technique for multiple d.o.f. and ground contacts has been required to achieve a realtime dynamics analysis. This study proposes an efficient realtime solving technique that considers the wheeled vehicle dynamics behavior with full degrees of freedom and wheel contact with soft ground such as sand or undersea ground. A combat vehicle was developed to verify this method, and its dynamics results are compared with commercial programs using implicit integration methods. The combat vehicle consists of a chassis, double wishbone type front and rear suspension, and drive train. Some cases of vehicle dynamics analysis are carried out to verify the realtime ratio.

• Transactions on Electrical and Electronic Materials
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• v.15 no.6
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• pp.297-304
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• 2014

Due to the nonlinearity and complexity of the three-phase photovoltaic inverter, we propose an intelligent control based on fuzzy logic and the classical proportional-integral-derivative. The feedback linearization method is applied to cancel the nonlinearities, and transform the dynamic system into a simple and linear subsystem. The system is transformed from abc frame to dq0 synchronous frame, to simplify the state feedback linearization law, and make the close-loop dynamics in the equivalent linear model. The controls improve the dynamic response, efficiency and stability of the three-phase photovoltaic grid system, under variable temperature, solar intensity, and load. The intelligent control of the nonlinear characteristic of the photovoltaic automatically varies the coefficients $K_p$, $K_i$, and $K_d$ under variable temperature and irradiation, and eliminates the oscillation. The simulation results show the advantages of the proposed intelligent control in terms of the correctness, stability, and maintenance of its response, which from many aspects is better than that of the PID controller.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2004.11a
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• pp.255-258
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• 2004

The SAR(Solar Array Regulator) of KOMPSAT(Korea Multi Purpose SATellite)-1, 2 regulates a photovoltaic power according to the duty ratio commands of the ECU. But the ECU has so many other jobs that it can not calculate the solar array condition immediately. It means the SAR cannot always generate the maximum power of a photovoltaic. Nowadays, the commercial photovoltaic systems are using a controller operated by digital processing. But the usage for satellite is not adaptable. It is not easy to find the processor of the space grade and the price is expensive. So in this paper, the simple analog MPPT(Maximum Power Point Tracking) algorithm is proposed for the small satellite in LEO. This algorithm does not need any calculation of power by multiplication of voltage and current md a measurement of the solar array temperature. It is consist of only two sample and hold circuits, two comparators, a flip-flop, and an integrator. The proposed MPPT algorithm is verified by the simulation and experimental.