• 제어로봇시스템학회논문지
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• 제7권3호
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• pp.198-208
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• 2001

In this paper, vibration suppression of an elastic beam fixed on a moving cart and carrying a fixed or moving mass is considered. A modified pulse sequence method with RIC(Robust Internal-loop Compensator) is proposed to suppress the single model residual vibration and to get accurate positioning of the beam-mass-cart system. The performance of the proposed input preshaping method is compared with that of the previous ones through simulations and experiments. Using the proposed method, it is able to suppress the initial vibration of the beam-mass-cart system carrying a concentrated mass. Accurate PTP(point-to-point) positioning of the moving mass without residual vibration is also obtained experimentally by modifying the proposed pulse sequence method. Finally, the proposed input preshaping method is applied successfully to the system to follow square trajectories of the moving mass without residual vibration.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1267-1271
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• 2014

There have been many autonomous robot calibration methods which form closed loop structures through the various attached sensors and mechanical fixtures. Single point calibration among them has been used for on-site calibration due to its convenience of implementation. The robot can reach a single point with infinitely many configurations so that single point calibration algorithm can be set up and easily implemented relative to the other methods. However, it is not still easy to drive the robots' sharp edge to its corresponding edge of the fixture. This is error-prone process. In this paper, we propose a 3 dimensional small displacement measuring sensor and a robot calibration algorithm based on this sensor. This method relieves the difficulty of matching two edges in the single point calibration and improves the resulting robot accuracy. Simulated study is carried out on a Hyundai HA06 robot to show the effectiveness of the proposed method over the single point calibration. And also, the resulting robot accuracy is compared with that from 3D laser tracker based calibration to show the dependency of robot accuracy on range of the workspace where the measurement data are collected.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2590-2592
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• 2000

본 논문에서는 TV 브라운관 유리용해로의 온도 제어를 위한 고전 고급 제어 (Conventional Advanced Control) 알고리듬을 제시한다. 용해로의 특성에 맞도록 중요한 입출력 변수를 선정한 후, 공정 실험을 통하여 얻어진 데이터를 바탕으로 입출력 변수들간의 초보적인 FOPDT (First Order Plus Dead Time) 모델들의 조합으로 용해로를 모델링하였다. 수립된 모델을 바탕으로 주요 입출력을 PI (Proportional - Integral) 형태의 cascade 및 단일 궤환 루프(Single feedback loop)들의 조합으로 제어기를 구성하였다. 제시된 알고리듬은 기존 용해로에 설치되어 있는 DCS를 이용하여 구현되었고, 일 150톤 생산 규모의 용해로에 성공적으로 실적용되었다.

• 제어로봇시스템학회논문지
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• 제17권12호
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• pp.1188-1193
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• 2011

A nonlinear version of disturbance observer is presented. The system under consideration is an uncertain single input single output nonlinear system and the nominal plant is also a nonlinear system. Compared to the previous implementation given in [8], the proposed scheme does not require an auxiliary variable anymore, thus it has a simpler and more intuitive structure. A robust stability condition for the overall closed-loop system is also provided.

• 전기학회논문지
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• 제57권8호
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• pp.1440-1446
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• 2008

In this paper, a novel TMR (Triple Modular Redundancy) memory structure is proposed using state feedback control of asynchronous sequential machines. The main ability of the proposed structure is to correct the fault of SEU (Single Event Upset) asynchronously without resorting to the global synchronous clock. A state-feedback controller is combined with the TMR realized as a closed-loop asynchronous machine and corrective behavior is operated whenever an unauthorized state transition is observed so as to recover the failed state of the asynchronous machine to the original one. As a case study, an asynchronous machine modelling of TMR and the detailed procedure of controller construction are presented. A simulation results using VHDL shows the validity of the proposed scheme.

• 한국정밀공학회지
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• 제13권9호
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• pp.114-129
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• 1996

This paper describes the whole development phase for the underwater vehicle actuating system with high hydroload torque disturbance. This includes requirement analysis, system modeling, control algorithm design, real time implementation, test and performance evaluations. As for driving control algorithms, fuzzy logic, variable structure and PD(Proportional-Differential) algorithm were designed and implemented on board controller using a single chip microprocessor. Intel 8797. And test and performance evaluation is carried out both single test and wystem integration test. We could confirm the basic performance of actuating system through the single test and gereral developing work of any actuating systems was finished with a single performance test of actuating system without system integration test. But, we suggested that system integration test be needed. System integration test is carried out using G/C HILS(Guidance and Control Hardware-In-the -Loop Simulation) which is constituted flight motion simulator, load simulator, real time host computer and the related subsystems such as inertial navigation system, power supply system and Guidance and Control Computer etc.. The most important practical contribution of this paper is that full system characteristics such as minimal control effort, enhancement of guidance and autopilot performance by the actuating system using G/C HILS technique are investigated. Through full running G/C HILS, in spite of the passing to single tests, some control algorithm resulted in failure as to stability of full system and system time frame.

• 물과 미래
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• 제25권2호
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• pp.47-60
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• 1992

북한강 수계에 위치한 화천댐과 소양강댐을 홍수시 연계운영을 위하여 Incremental DP를 사용하여 최적운영모형을 개발하였다. 목적함수로는 의암댐 합류점의 첨두 유량을 최소화하는 것으로 하였으며 수리-수문학적 제약조건은 홍수시 댐조작에 관한 법령, 각 댐 및 하도특성을 고려하여 설정하였다. 특히, 2차 홍수에 대비하여 홍수가 끝나는 시점의 수위가 제한수위가 되도록 하였다. 또한 Incremental DP 모형의 운영결과와 Simulation 및 DP에 의한 단일댐 운영결과를 조절률과 이용률의 관점에서 비교하였고, 합류점의 첨두유량을 Feedback Loop를 이용한 Simulation 결과와 비교하였다. 운영결과 조절률과 이용률이 Simulation 및 DP에 의한 단일댐 운영결과보다 다소 낮게 나타났고, 합류점 유량이 Feedback Loop에 결과보다 크게 나타났는데 이는 홍수말기의 수위에 관한 제약조건 때문이다.

• 대한전자공학회논문지SD
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• 제42권12호
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• pp.91-102
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• 2005

최근의 저 전력 컴퓨터 시스템은 내장 프로세서의 성능 향상과 공정 기술의 발전을 통한 디바이스 크기 감소로 인해 전압 변동, 커플링 효과 등으로 인한 SEU(single event upset)로 모델링 되는 천이고장으로 인한 예기치 못한 동작 중 에러 발생가능성이 매우 높아지고 있다. 제안하는 방식은 프로세서가 처리하는 프로그램 분기 흐름상에서 에러를 검출하는 효과적인 watchdog 프로세서 구조로서, 기존 방식이 가지는 오버헤드를 줄이면서 프로그램 내부에서 빈번히 발생되는 루프를 매번 검사할 때, 동일한 동작을 watchdog 프로세서가 반복함으로써 생기는 비효율적인 메모리 접근, 버스 점유 경쟁등과 같은 추가적인 시스템 수준의 오버헤드를 줄이는 새로운 방법을 제안하였다. 본 논문은 기존의 실시간 분기 및 제어 흐름 연구에서는 다루지 않았던 루프 검출 및 예측 기능을 추가함으로써 실제 시스템 적용에 보다 적합한 비용 효율적인 구조를 제안하고 있다.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2008년도 한국우주과학회보 제17권2호
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• pp.25.3-26
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• 2008

The direct way to the moon is to start from the parking orbit by using impulsive thruster In previous domestic research, the direct way has been studied by using a single impulsive shot. However, when a single impulsive shot occurs to go into a Translunar orbit, gravity losses occur because thruster is not impulsive shot but the finite burns and it causes the gravity losses. To make up for the weak point of a single impulsive shot, this paper divides TLI (Trans Lunar Injection) into several small burns. Therefore, departure loop trajectory and the Translunar trajectory. This method is useful not only to reduce the gravity losses but also to check the condition of satellite. By using this method, this paper demostrates the optimized trajectory from Earth parking orbit to lunar mission orbit which minimizes the fuel, and the SNOPT (Sparse Nonlinear OPTimizer software) is used to find optimal solution. Also, this paper provides lunar mission profile which includes the mission schedule when TLI, LOI (Lunar Orbit Insertion) maneuvers occur, a mount of fuel when thruster is used and other mission parameters.

• 전기학회논문지
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• 제57권10호
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• pp.1796-1801
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• 2008

In this paper, a new current based maximum power point tracking (CMPPT) method is proposed for a single phase photovoltaic power conditioning system and the current based MPPT modifies incremental conductance method. The current based MPPT method makes the entire control structure of the power conditioning system simple and uses an inherent current source characteristic of solar cell array. In addition, digital phase locked loop using an all pass filter is introduced to detect phase of grid voltage as well as peak voltage. Controllers about dc/dc boost converter, dc-link voltage, dc/ac inverter is designed for a coordinated operation. Furthermore, PI current control using a pseudo synchronous d-q transformation is employed for grid current control with unity power factor. 3kW prototype photovoltaic power conditioning system is built and its experimental results are given to verify the effectiveness of the proposed control schemes.