• Proceedings of the KIEE Conference
• /
• 2004.11c
• /
• pp.681-683
• /
• 2004

This paper describes the control of a geared DC motor having a backlash for implementation of a humanoid robot using disturbance observer. Critical problem of the humanoid robot is caused by the nonlinearity such as a backlash. To meet this problem, a control method using disturbance observer has been proposed. The disturbance observer is designed to estimate the effects of nonlinearities in the system, to make the nonlinear system behave linearly. To design the low-pass filter in the disturbance observer, cut-off frequency of the output should be found. The goal of this paper is the implementation of the proposed system, compensating the backlash effect. To accomplish the goat, PD control and disturbance observer are employed to the system with no load and full load. As a result, system stability can be guaranteed by compensating the effect of backlash. In addition, real experiment shows the proposed control methodology will satisfy the stable working of a humanoid type in the future.

• Journal of electromagnetic engineering and science
• /
• v.4 no.4
• /
• pp.162-167
• /
• 2004

In this paper, optimal position of optical phase conjugator(OPC) for best compensating distorted WDM channels due to both chromatic dispersion and self phase modulation(SPM) is numerically investigated, and the compensation characteristics of overall WDM channels at this position is investigated, comparing with that in case of OPC placed at mid-way of total transmission length. It is confirmed that the compensation extents in WDM system with OPC is more improved by the shifting OPC position from the mid-way of total transmission length. And, we confirmed that the optimal position of OPC must be selected to the position decreasing not only eye opening penalty(EOP) of overall WDM channels but also EOP deviation between WDM channels, and this OPC position should be altered as various system parameters such as modulation format, and fiber dispersion, etc. Using proposed configuration, it is possible to remove all in-line dispersion compensator, reducing span losses and system costs.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.59 no.1
• /
• pp.168-175
• /
• 2010

The issue of rejecting periodic disturbances arises in various applications dealing with rotating machinery. A new method using DIDF (Dual-Input Describing Function) is presented for the rejection of periodic disturbances with uncertain frequency. This can be added to an existing feedback control system without altering the closed-loop system stability. The objective is to design a nonlinear compensator to secure specified oscillation amplitude and frequency which are the same as disturbances. We suggest two procedures to determine coefficients for DIDF's synthesis. The structure of the proposed DIDF is so simple that we can easily synthesize. A number of computer simulations were carried out to demonstrate the salient feature of the proposed DIDF compared to the conventional ones(that is, adaptive algorithms).

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.16 no.4
• /
• pp.342-349
• /
• 1991

In this paper, a method is presented for designing a tracking and disturbance rejecting controller for a nonlinear control system in which approximate linearization is not applicable due to a s stiff nonlinearity. Only the measurable variables are used for the controller synthesis. The system is augmented by a compensator at the output side for the tracking and disturbance rejection. An output delayed feedback controller is designed for the augmented system without nonlinearity. Then the feedback parameters are adjusted by describing function method to overcome the limit cycle due to the nonlinearity.

• Journal of Advanced Research in Ocean Engineering
• /
• v.1 no.2
• /
• pp.85-93
• /
• 2015

The nonlinear time-domain analysis method was implemented to carry out a series of integrated simulations for a deep-water crane vessel system composed of four sub components, including a floating vessel, lifted equipment, hoisting cable and dynamic positioning (hereinafter DP) system. The analysis of the coupled dynamics consists of the crane vessel and equipment connected using the crane wire, and the DP is modeled according to the wind, wave and current conditions. The DP systems were numerically implemented using a classical PD feedback controller, and various simulations of the deepwater installation were conducted using different conditions in order to evaluate the global performance of the floating crane vessel combined with the DP system.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.63 no.7
• /
• pp.883-888
• /
• 2014

The paper describes the parameter tuning of power system stabilizer (PSS) for a power plant based on hybrid system modeling. The existing tuning method based on bode plot and root locus is well applied to keep power system stable. However, due to linearization of power system and an assumption that the parameter ratio of the lead-lag compensator in PSS is fixed, the results cannot guarantee the optimal performances to damp out low-frequency oscillation. Therefore, in this paper, hybrid system modeling, which has a DAIS (differential-algebraic-impusive-switched) structure, is applied to conduct nonlinear modeling for power system and find optimal parameter set of the PSS. The performances of the proposed method are carried out by time domain simulation with a single machine connected to infinite bus (SMIB) system.

• Journal of Mechanical Science and Technology
• /
• v.17 no.11
• /
• pp.1608-1615
• /
• 2003

This paper studies on the linearization of a looper system in hot strip mills, that plays an important role in regulating a strip tension or a strip width. Nonlinear dynamic equations of the looper system are analytically linearized by a static feedback linearization algorithm with a compensator. The proposed linear model of the looper is validated by a comparison with a linear model using Taylor's series. It is shown that the linear model by static feedback well describes nonlinearities of the looper system than one using Taylor's series. Furthermore, it is shown from the design of an ILQ controller that the linear model by static feedback is very useful in designing a linear controller of the looper system.

• Journal of the Korean Society for Industrial and Applied Mathematics
• /
• v.18 no.3
• /
• pp.269-277
• /
• 2014

A numerical scheme is proposed to control the BBMB (Benjamin-Bona-Mahony-Burgers) equation, and the scheme consists of three steps. Firstly, BBMB equation is converted to a finite set of nonlinear ordinary differential equations by the quadratic B-spline finite element method in spatial. Secondly, the controller is designed based on the linear quadratic regulator (LQR) theory; Finally, the system of the closed loop compensator obtained on the basis of the previous two steps is solved by the backward Euler method. The controlled numerical solutions are obtained for various values of parameters and different initial conditions. Numerical simulations show that the scheme is efficient and feasible.

• Proceedings of the KIPE Conference
• /
• 2004.07b
• /
• pp.760-763
• /
• 2004

The recent growth in the use of impactive and nonlinear loads, electronic, and medical devices sensitive to power quality has caused many power quality problems and power supply-and-demand problem. Recently, in power system not only the reliability of the power supply but also the DVR(Dynamic Voltage Restorer), UPS, and APF are being studied more and more. Hence, in this paper, Voltage sag detection algorithm for voltage sag corrector is proposed. Also, simple circuit for the experimental voltage sag is Introduced.

• Proceedings of the KIPE Conference
• /
• 2004.07b
• /
• pp.566-569
• /
• 2004

The recent growth in the use of impactive and nonlinear loads, electronic devices sensitive to power quality has caused many power quality problems. Recently, in power system, not only the reliability of the power supply but also the DVR(Dynamic Voltage Restorer) are being studied more and more. The DVR is a series compensator which can instantaneously compensate a voltage variation in supply side, and is a more effective than a existing UPS(Uninterruptible Power Supply) which can be only used in limited range of loads such as single load. Hence, in this paper, a study of inverter side L-C filter output Voltage for DVR is discussed.