• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.339-345
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• 2016

This paper presents a robust speed control of an autonomous vehicle using a disturbance observer. For the purpose, the transfer function of speed dynamics of an autonomous vehicle is identified using step response data. Based on the identified transfer function, model based PID (Proportional-Integral-Derivative) control is designed. In order to design a robust control against load variations on the vehicle, a disturbance observer (DOB) based control is devised. The performance of the designed DOB based control is demonstrated by real experiments.

• Journal of Ship and Ocean Technology
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• v.6 no.1
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• pp.34-53
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• 2002

Numerical solution of the forward-speed radiation problem for a half-immersed cylinder advancing in regular waves is presented by making use of the improved Green integral equation in the frequency domain. The B-spline higher order panel method is employed stance the potential and its derivative are unknown at the same time. The present numerical solution of the improved Green integral equation by the B-spline higher order Kelvin panel method is shown to be free of irregular frequencies which are present in the Green integral equation using the forward-speed Kelvin-type Green function.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.3
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• pp.66-73
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• 2008

This paper presents a position sensorless control system of SRM over wide speed range. Due to the doubly salient structure of the SRM, the phase inductance varies along with the rotor position. Most of the sensorless control techniques are based on the fact that the magnetic status of the SRM is a function of the angular rotor position. The rotor position estimation of the SRM is somewhat difficult because of its highly nonlinear magnetizing characteristics. In order to estimate more accurate rotor position over wide speed range, Neural Network is used for this highly nonlinear function approximation. Magnetizing data patterns of the prototype 1-hp SRM are obtained from locked rotor test, and used for the Neural Network training data set. Through measurement of the flux-linkage and phase currents, rotor position is able to estimate from current-flux-rotor position lookup table which is constructed from trained Neural Network. Experimental results for a 1-hp SRM over 16:1 speed range are presented for the verification of the proposed sensorless control algorithm.

• Journal of the Korean Society for Railway
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• v.6 no.2
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• pp.100-107
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• 2003

This paper presents development of train performance simulation(TPS) program to analyze traction performance, braking performance and energy consumption for Korea high speed railway system. The conventional TPS program have some inconveniences such as DOS-based platform, user interface and limited function. The simulation technique model using scenario menu, various analysis function and object-oriented design/programming is presented. This simulation result have been compared with Alstom's for the Seoul-Pusan High Speed Rail Project.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.3
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• pp.93-102
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• 2014

Recently the interest in permanent magnet alternating motor using for electric compressor become great. Especially the research on Interior Permanent Magnet Motor has been doing actively for its advantages in the energy density and the efficiency. In order to control the output of motor to the desired value, the current control or speed control of motor are required. The accurate detection of rotor position and speed information are necessary for the control of motor. In general, the encoder, hall sensor, and resolver are used to obtain the information of motor position and speed and the speed detection algorithm, M/T method, is applied. However, the M/T method causes the error depending on rotor speed. Therefore, this M/T speed detection method is not perfect. In this paper, it is proposed that the PI control with a 1st transfer function and the integration element between velocity and position are composed in series and this feeds back to the reference value of position angle. The proposed algorithm is a function of the integral elements 2nd term, speed element, is used as an output. Thus, it is possible to detect the correct speed by configuring like the mechanical structure similarly. The proposed algorithm is verified by using PSIM DLL and is applied to the BLAC motor drive. And also it is confirmed that this system estimates the accurate speed regardless of rotor speed changes. As a example, the experimental results and simulations shows that the proposed method is very effective.

• Journal of the Society of Naval Architects of Korea
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• v.45 no.3
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• pp.258-268
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• 2008

The radiation potential of a ship advancing in waves is studied using the 3D time-domain forward-speed free-surface Green function and the Green integral equation. Numerical solutions are obtained by making use of the 2nd order BEM(Boundary Element Method) which make it possible to take account of the line integral along the waterline in a rigorous manner. The 6 degree of freedom motion memory functions of a hemisphere and the Wigley seakeeping model obtained by direct integration of the time-domain 3D potentials over the wetted surface are presented for various Froude numbers.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.3
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• pp.98-106
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• 1997

In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed position synchronizing control system is constituted with speed and synchronizing controller. The speed controller is aimed at the following to speed reference. Furthermore, it is designed to guarantee low sensitivity under some disturbance as well as robustness against model uncertainties using $H_{\infty}$technique. The synchronizing controller is designed to keep minimizing the position error using PID control law which is considered to reduce the dimension of transfer function in the control system. Especially, the proposed method can be easily conducted by controlling only slave axis speed, because it, has variable structure which is decided to master and slave axis by the sign of synchronizing error. Therfore, the master axis which is smaller influenced than another axes by disturbance can be controlled without reducing or increasing its speed for precise position synchronization. The effectiveness of the proposed method is sucessfully confirmed through many experiments.s.

• Journal of Electrical Engineering and Technology
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• v.8 no.1
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• pp.137-143
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• 2013

This paper presents development of variable speed generation (VSG) system with energy saving function. The rubber tyred gantry crane (RTGC) requires the power from diesel-engine. Significant fuel savings by reducing the engine speed can be achieved, because all of operation modes except hoisting are required lower power than rated value of engine. When low speed operation output voltage of generator is decrease until acceptable range of motor driver inverters and auxiliary load supplier. According to power demand engine speed is varying from 20 to 60Hz, and voltage is varying between 210Vac and 480Vac. When idle mode or low power operation dc/dc converter operates by constant output voltage control and inverters dc site voltage is compensated by it. This paper proposed 3-phase interleaved boost converter which has the same structure as the commercially available 3-phase inverter and current sharing capability. 400kW interleaved converter is designed and a performance of converter is evaluated through several experiments with a RTGC system. Energy saving VSG system can cut down fuel consumption by 36% and 21.3% at idle and unidirectional load operations.

• Wind and Structures
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• v.38 no.5
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• pp.341-354
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• 2024

This paper presents a theoretical method to deal with the aerodynamic performance and pitch optimization of the horizontal axis wind turbine blades at low wind speeds. By considering a blade element, the functional relationship among the angle of attack, pitch angle, rotational speed of the blade, and wind speed is derived in consideration of a quasi-steady aerodynamic model, and aerodynamic loads on the blade element are then obtained. The torque and torque coefficient of the blade are derived by using integration. A polynomial approximation is applied to functions of the lift and drag coefficients for the symmetric and asymmetric airfoils respectively, where specific expressions of aerodynamic loads as functions of the angle of attack (which is a function of pitch angle) are obtained. The pitch optimization problem is investigated by considering the maximum value problem of the instantaneous torque of a blade as a function of pitch angle. Dynamic pitch laws for HAWT blades with either symmetric or asymmetric airfoils are derived. Influences of parameters including inflow ratio, rotational speed, azimuth, and wind speed on torque coefficient and optimal pith angle are discussed.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.6
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• pp.27-32
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• 2020

This paper compare the adaptive equalization performance according to the values of adaptive step variation speed for adapting in VS-CCA (Variable Stepsize-Compact Constellation Algorithm) based on nonlinear function function of error signal. The VS-CCA algorithm compacts the 16-QAM nonconstant modulus signal into the 4 groups of 4-QAM constant modulus signal constellation in quadature plane, then the error signal is generated using the constant modulus of transmitted signal statistics. The adaptive equalizer coefficient were updated in order to achieve the minimum cost function by varying step based on the nonlinear function of error signal. In this time, the instantaneous adaptive step is determined according to the value of step variation speed of nonlinear function and the different equalization performance were obtained according to the step variation speed value. The equalizer internal index and external index which represents the robustness of external noise were used for the performance comparison index. As a result of computer simulation, it was confirmed that the value of variation speed less than 1.0 give more superior in every performance index compared to the greater than 1.0 in steady state.