• 전기전자학회논문지
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• 제14권2호
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• pp.58-63
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• 2010

본 논문에서, 평탄한 경로 뿐 아니라 바위 등의 험로환경에서도 로봇이 주행하도록 다족류 절지동물과 유사한 구조를 갖는 다중 모듈형 로봇의 설계 및 구현을 다룬다. 각 모듈은 독립 전원과 제어장치, 구동부 및 근거리 Zigbee 무선통신을 포함하고 있으며 절지동물의 한마디를 구현하였다. 주행방향 및 경로 조건에 따라 각 모듈은 무선통신에 의하여 동일한 주행방향을 가지며 모듈의 구동부를 가동 또는 차단할 수 있도록 설계하였다. 주행시 경로의 조건에 따라 각 모듈의 속도와 토크를 계산하며 험한 경로의 경사도에 따라 구동 되는 모듈 수를 가변적으로 조정하여 험로 및 평탄도로 등의 다양한 경로환경에 효율적으로 주행하도록 하였다. 험로 모델을 이용한 실험을 통하여 모듈을 가변적으로 구동할 수 있는 로봇을 구현하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.853-855
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• 1999

The induction machine has been used frequently for the system that needs static speed because of its simplicity, durability, credibility and efficiency. But it is nonlinear system for its multi-variable interference. Its controller is more complicated than DC machine's one. So vector control method is needed for its high Performance control. This paper shows that vector control algorithm could be more fast and stable by using Genetic algorithm (GA) based upon Darwin's evolution theory and Mendel's genetics. Methods proposed in here are used to design induction machine's vector controller and to use GA for optimizing the controller's parameter. SIMULINK of MATLAB is used for analysis and conviction of control property

• International Journal of Control, Automation, and Systems
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• 제2권4호
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• pp.407-422
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• 2004

A new method for the design of predictive controllers for SISO systems is presented. The proposed technique allows uncertainties and constraints to be concluded in the design of the control law. The goal is to design, at each sample instant, a predictive feedback control law that minimizes a performance measure and guarantees of constraints are satisfied for a set of models that describes the system to be controlled. The predictive controller consists of a finite horizon parametric-optimization problem with an additional constraint over the manipulated variable behavior. This is an end-constraint based approach that ensures the exponential stability of the closed-loop system. The inclusion of this additional constraint, in the on-line optimization algorithm, enables robust stability properties to be demonstrated for the closed-loop system. This is the case even though constraints and disturbances are present. Finally, simulation results are presented using a nonlinear continuous stirred tank reactor model.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.187-189
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• 2002

This paper presents property of the squeeze mode type mount using Magneto-Rheological fluid(MR fluid). The mount can isolate multi-directional vibrations, and also effectively reduce the vibrations in a wide range of disturbance frequencies by controlling the applied magnetic field. The shape of the mount is the same that of squeeze film damper. In the present work, the performance of this mount was experimentally investigated according to changing the magnetic field strength.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.325.1-325
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• 2002

This paper presents property of the squeeze mode type mount using Magneto-Rheological fluid (MR fluid). The mount can isolate multi-directional vibrations, and also effectively reduce the vibrations in a wide range of disturbance frequency by controling the applied magnetic field. The shape of the mount is the same that of squeeze film damper. In the present work, the performance of this mount was experimentally investigated according to changing the magnetic field strength. (omitted)

• 한국소음진동공학회논문집
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• 제13권7호
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• pp.517-523
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• 2003

This paper presents response property of the squeeze mode type mount using Magneto-Rheological fluid (MR fluid) . The MR mount for the isolation of multi-directional vibrations was constructed in this study. Both the mechanism and shape of the mount are the same as squeeze film dampers for a rotor system. In the present work, the performance of the mount was experimentally Investigated according to the magnetic field strength. The experimental results present that the MR mount can effectively reduce the vibration in a wide range of frequency by controlling the applied electromagnetic filed strength. Viscous damping and stiffness coefficients of the MR mount tend to be changed according to the variation of the applied currents In this study.

• 설비공학논문집
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• 제13권5호
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• pp.313-320
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• 2001

In the present study, various experiments were performed to investigate capacity modulation and refrigerant flow distribution of a multi-heat pump using a variable speed compressor and electronic expansion valves(EEVs) in the cooling mode. Based on the experimental results, it was possible to understand the interrelation of dual indoor units which provides some difficulties in capacity control of each indoor unit. The characteristics of capacity modulation of two indoor units were measured by controlling two EEVs with a cooling load of each indoor unit.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2016년도 전력전자학술대회 논문집
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• pp.519-520
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• 2016

BLSRM is a nonlinear, strong coupling and multi-variable system. The conventional control method is vulnerable to uncertain factors such as the load disturbance and satellite parameters change. It is difficult to obtain satisfactory control effect. Basing on a 8/10 BLSRM, whose suspending force control is separated with the torque control, this paper presents adaptive fuzzy PID controller for levitation control, which apply the fuzzy logic control to the conventional PID controller for parameters self-tuning. Both fuzzy and parameters of PID controller are self-tuning on-line, which improve the performance of controller. Finally, simulation and experimental results show the performance of the proposed method.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2005년도 춘계학술대회논문집
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• pp.319-324
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• 2005

The interface between host processor and the ShortStack Micro Server may be a Serial Communication Interface(SCI). The LonWorks control module with a high performance is developed, which is composed of the 8 bit PIC Microprocessor for host processor and the smart neuron chip for the ShoretStack Micro Server. This intelligent control board is verified as proceeding the various function tests from experimental system with an boost pump and inverter driving systems. It is also confirmed that the developed control module provides stably 0-10VDC linear signal to the input signal of inverter driving system for varying the induction motor speed. Thus, the experimental results show that the fabricating intelligent board carried out very well the various functions in the wide operating ranges of boost pump system. This developed control module expect to apply to industrial fields to require the comparatively exact control and monitoring such as multi-motor driving system with inverter, variable air volume system and the boost pump water supply systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.16-19
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• 1994

This paper describes a design method of compensators for decentralized control systems. Decentralized control problem is convenient to design multi-variable control systems and formulated as a series of independent designs. The proposed design method is composed of some steps, which is sequentially to close loop of the system diagonalized by regarding interactive subsystem as perturbation for current loop. So, on the basis of H$_{\infty}$ control theory, decentralized controllers are designed considering robust stability for diagonal systems with perturbations. A numerical example shows that the proposed design method is effective for multivariable control systems..