• 제어로봇시스템학회논문지
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• 제17권11호
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• pp.1145-1153
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• 2011

EMB (Electro-Mechanical Brake) systems can provide improved braking and stability functions such as ABS, EBD, TCS, ESC, BA, ACC, etc. For the implementation of the EMB systems, reliable and robust fault detection algorithm is required. In this study, a model-based fault detection algorithm is designed based on the analytical redundancy method in order to monitor current and force sensor faults in EMB systems. A state-space model for the EMB is derived including faulty signals. The fault diagnosis algorithm is constructed using the analytical redundancy method. Observer is designed for the EMB and the fault detectability condition is examined based on the residual analysis. The performance of the proposed model-based fault detection algorithm is verified in simulations. The effectiveness of the proposed algorithm is demonstrated in various faulty cases.

• 한국음향학회지
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• 제31권3호
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• pp.179-187
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• 2012

This paper presents a novel method for estimating reliable noise spectral magnitude for acoustic background noise suppression where only a single microphone recording is available. The proposed method finds noise estimates from spectral magnitudes measured at line spectral frequencies (LSFs), under the observation that adjacent LSFs are near the peak frequencies and isolated LSFs are close to the relatively flattened valleys of LPC spectra. The parameters used in the proposed method are LPC coefficients, their corresponding LSFs, and the gain of LPC residual signals, so it suits well to LPC-based speech coders.

• 한국정밀공학회지
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• 제25권10호
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• pp.67-76
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• 2008

In this research, a simple technique for designing PID controller, which guarantees robust stability for two-mass systems with parameter uncertainties as well as rigid-body behavior and zero steady-state error,is described. As well, such a PID controller is designed to mate two important frequencies, at which the given system is excited, very close so that an appropriate reference profile generated by using command shaping techniques can cover those two frequencies. Root-locus analysis. which shows traces of closed-loop poles for the given system, is used to design this PID controller. Finally, feedforward controller is added to improve tracking performance of the closed-loop system. Simulation for a system with a flexible mode and parameter uncertainties is executed to prove the feasibility of this technique.

• 소음진동
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• 제8권6호
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• pp.1030-1036
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• 1998

When the lateral dimensions of a duct is larger than or comparable to the wavelengths of Interest, higher order modes propagate in the duct. These modes will be radiated and produce noise. A number of sensors and actuators for control of radiating noise from the duct have to be incorporated with the number of modes which one wants to control. These considerations motivated the present study that considers a control system which has less microphones and control sources than required. In this work, by theoretical analysis, the control performance of such a kind of system is investigated in terms of sound-field variables and control system variables. The possible maximum and minimum value. mean and variance of residual acoustic potential energy are derived for the set of primary sound fields.

• 제어로봇시스템학회논문지
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• 제9권2호
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• pp.107-116
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• 2003

This paper presents a systematic design methodology for fault tolerant controller against a fault in actuators and sensors of linear stochastic systems with uncertainties. The scheme is based on fault detection and diagnosis(isolation and estimation) using a bank of robust two-stage Kalman filters, and accommodation of the actuator fault by eigenstructure assignment and immediate compensation of the sensor's faulty measurement. In order to clarify the fault feature in test statistics of residual, noise reduction method is given by multi-scale discrete wavelet transform. The effectiveness of our approach Is shown via simulations for a VTOL(vertical take-off and landing) aircraft subjected to parameter variations, external disturbances, process and sensor noises.

• Journal of the Korean Data and Information Science Society
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• 제14권3호
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• pp.673-685
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• 2003

In this paper we consider the problem of identifying and testing outliers in linear regression. First we consider the problem for testing the null hypothesis of no outliers. A test based on the ratio of two residual scale estimates is proposed. We show the asymptotic distribution of the test statistics by Monte Carlo simulation and investigate its properties. Next we consider the problem of identifying the outliers. A forward sequential procedure using the suggested test is proposed and shown to perform fairly well. Unlike other forward procedures, the present one is unaffected by masking and swamping effects because the test statistic is based on robust scale estimate.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.233-236
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• 2004

In this paper, a new sensorless vibration control scheme is proposed for a flexible manipulator system. A robust sliding mode controller incorporating with a ‘reaction moment observer’ used for the estimation of the reaction moment reciprocally acting on flexible arm and hub inertia is introduced to achieve desired control target. The rigid body dynamics of the single-link flexible manipulator is simply considered in the design of the sliding mode controller. Then, the reaction moment is estimated by the proposed reaction moment observer to suppress the residual vibration of the flexible arm. The performance of the proposed control scheme is verified by computer simulation and experiment.

• Journal of the Korean Data and Information Science Society
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• 제16권4호
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• pp.1053-1066
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• 2005

In this paper we consider the problem of identifying and testing outliers in linear regression. First we consider the use of the so-called scale ratio tests for testing the null hypothesis of no outliers. This test is based on the ratio of two residual scale estimates. We show the asymptotic distribution of the test statistics and investigate its properties. Next we consider the problem of identifying the outliers. A forward sequential procedure using the suggested test is proposed. The new method is compared with classical procedure in the real data example. Unlike other forward procedures, the present one is unaffected by masking and swamping effects because the test statistic is based on robust scale estimate.

• Journal of the Korean Data and Information Science Society
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• 제15권4호
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• pp.921-934
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• 2004

We consider the problem of identifying and testing outliers in linear regression. First, we consider the scale-ratio tests for testing the null hypothesis of no outliers. A test based on the ratio of two residual scale estimates is proposed. We show the asymptotic distribution of test statistics and investigate the properties of the test. Next we consider the problem of identifying the outliers. A forward procedure based on the suggested test is proposed and shown to perform fairly well. The forward procedure is unaffected by masking and swamping effects because the test statistics used a robust scale estimate.

• 대한전자공학회논문지
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• 제26권9호
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• pp.1322-1331
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• 1989

This paper proposes a new adaptation algorithm with which a model reference adaptive control can give a local boundedness of the tracking error applied to a continuous-time linear time-invariant single-input single-output plant whose reduced-order model is of relative degree 1 and whose unmodeled dynamics may be represented in a sigular perturbation form. With the addition of an offset term and an extra adaptation structure, this algorithm is shown to have a robustness property in the sense that this gives zero residual tracking errors when the unmodeled dynamics are disappeared.