• 한국조명전기설비학회지:조명전기설비
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• 제11권6호
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• pp.81-89
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• 1997

In order to achieve the zero voltage regulation of the output voltage, the function control law will be used. In the previous function control law, only the proportional controller is used and the stability of the closed loop system was not analyzed. In this paper, for the realization of the control law, a new method to retrieve the low frequency component of the inductor voltage is proposed and analyzed. The large signal closed loop characteristics are alos analyzed to ensure the stable operation of the system disturbances. By using the function control law in the control system, the effect of the disturbance of the supply voltage is reduced in 93.3% for the direct dusty ration method. Also, in the effect of the disturbance of the load current, the output voltage has a logn recovery-time and is changed proportionally in the direct duty ratio method, but has stable in the function control law. Finally, the analysis shows that the disturbance of the output voltage being due to the supply voltage variation can be eliminated completely and the closed loop output voltage is insensitive to the disturbance of the load current. Therefore, it is proved that by using the function control law, the switching power supply with zero-voltage regulation output voltage can be realized.

• 한국생산제조학회지
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• 제8권4호
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• pp.19-28
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• 1999

In order to control thermal deformation of the machine origin of machine tools a empirical model and a compensation system have been developed, Prior to empirical modeling the volumetric error considering shape errors and joint errors of slides is formulated through the homogeneous transformation matrix (HTM) and kinematic chain. Simulation results of the HTM method show that the thermal error of the machine origin is more critical than position-dependent errors. In order to make a stable and effective software error compensation system the GMDH (Group Method of Data Handling) models are constructed to estimate the thermal deformation of the machine origin by measuring deformation data and temperature data. A test bar and gap sensors are used to measure the deformation data. In order to compensate the estimated error the work origin shift method is developed by implementing a digital I/O interface board between a CNC controller and an IBM PC. The method shifts the work origin as much as the amounts which are calculated by the pre-established thermal error model. The experiment results for a vertical machining center show that the thermal deformation of the machine origin is reduced within $\pm$5$mu extrm{m}$.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1939-1944
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• 2003

This paper presents a global path planning algorithm based on a visibility graph method, and applies additionally various constraints for constructing the reduced visibility graph. The modification algorithm for generating the rounded path is applied to the globally shortest path of the visibility graph using the robot size constraint in order to avoid the obstacle. In order to check the visibility in given 3D map data, 3D CAD data with VRML format is projected to the 2D plane of the mobile robot, and the projected map is converted into an image for easy map analysis. The image processing are applied to this grid map for extracting the obstacles and the free space. Generally, the tree size of visibility graph is proportional to the factorial of the number of the corner points. In order to reduce the tree size and search the shortest path efficiently, the various constraints are proposed. After short paths that crosses the corner points of obstacles lists up, the shortest path among these paths is selected and it is modified to the combination of the line path and the arc path for the mobile robot to avoid the obstacles and follow the rounded path in the environment. The proposed path planning algorithm is applied to the mobile robot LCAR-III.

• 대한기계학회논문집
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• 제16권6호
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• pp.1075-1088
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• 1992

본 연구에서는 두개의 팔을 가지는 실험용 로보트를 모델링 하기위해 사용된 기법들을 제시한다. 로보트는 수직 평면상에서 움직이므로 중력의 영향을 받는다. 그리고 두팔은 모두 탄성을 가진다. 이 로보트는 탄성 멤버들을 가지는 로보트의 여 러 제어기법들을 연구하기위해 만들어졌다. 시스템의 특성들은 아주 유연한 멤버들 을 가지게끔 정해진다.이것은 제어를 위해 쓰이는 전자부품들에 요구되는 밴드폭을 제안하고, 탄성이 크고 빠른 로보트에서 관찰 되어지는 유연한 운동들을 흉내낸다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2009년도 추계학술대회 논문집
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• pp.258-263
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• 2009

This paper describes an analysis of the stability and performance of a large-capacity flywheel energy storage system (FESS) supported by active magnetic bearings. We designed and manufactured the system that can store up to 5kWh of usable energy at the maximum speed of 18,000 rpm. In order to analyze the stability of the systems accurately, we derived a rigid body rotor model, flexible rotor model using finite-element method, and a reduced-order model using modal truncation. The rotor model is combined with those of active magnetic bearings, amplifiers, and position sensors, resulting in a system simulation model. This simulation model is validated against experimental measurements. The stability of the system is checked from the pole locations of the closed-loop transfer functions. We also investigated the sensitivity function to quantify the robustness of the systems to the disturbances such as mass imbalance and sensor noises.

• 한국전자통신학회논문지
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• 제8권11호
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• pp.1681-1690
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• 2013

본 논문은 IPMSM(Interior Permanent Magnet Synchronous Motor)의 센서리스 운전을 위해 확장 칼만 필터를 기반으로 하는 속도와 위치 추정기의 설계방법을 제안한다. 제안된 방법은 상태 추정의 정밀도를 향상시키기 위해서 시스템 모델의 상태추정구간을 더욱 세분화하여 나누고, 세분화한 각 구간을 테일러급수 전개하여 일차항만 사용하여 추정하였다. 제안된 상태 추정기는 2차 확장칼만필터에 비해 사전추정의 연산의 양을 크게 하지 않고, 상태추정의 정밀도가 증가함을 시뮬레이션을 통해 보일 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2188-2191
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• 2005

We consider a fault detection and isolation problem for inertial navigation systems which use redundant inertial sensors. We propose a FDI method using average of multiple parity vectors which reduce false alarm and wrong isolation, and improve correct isolation. We suggest the number of redundant sensors required to isolate simultaneous faults. The performance of the proposed FDI algorithm is analyzed by Monte-Carlo simulation.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1999년도 전력전자학술대회 논문집
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• pp.327-332
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• 1999

In this paper, six harmonic injection PWM method for reducing total harmonic distortion in single switch three phase discontinuous conduction mode boost converter is presented. In the proposed method, periodic six harmonic voltage is injected in the control circuit to vary the duty ratio of the converter switch within a line cycle so that the fifth order harmonic of the input current is reduced. Experimental results are verified by converter operating at 400V/6kW with three phase 140V~220V input.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2010년 춘계학술대회논문집
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• pp.40-42
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• 2010

Unsteady CFD results of the backward facing step (BFS) flow field is reconstructed by the low-dimenstional modes using the POD (Proper Orthogonal Decomposition) technique. Flow responses to the blowing or suction with various frequencies and amplitudes applied at the edge of the BFS can also be analysed using the same technique. The present technique can be effectively applied to the feedback flow control device.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1040-1044
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• 1992

This paper presents an algebraic approach for finding a dynamic state feedback controller when the linear multi-input system with delays in both state and input is controllable. In the time-delay case, controllability of the system does not always imply that system is cyclizable. Therefore, reduced order augmentation systems which is cyclizable as the time-varying case are considered. It is possible to construct feedback contorl systems by using single-input methods.