• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1008-1013
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• 2014

This paper introduces an adaptive anti-sway tracking control algorithm for container cranes with unknown payloads and friction between the trolley and the rail. If the friction effects in the system can be modeled, there is an improved potential to design controllers that can cancel these effects. The proposed control improves the sway suppressing and the positioning capabilities of the trolley and hoisting against uncertain payload and friction. The variable structure controls are first designed based on a class of feedback linearization methods for the stabilization of the under-actuated sway dynamics. The adaptation mechanism are then designed with parameter estimation of unknown payload and friction compensation for the trolley and hoisting, based on Lyapunov stability methods for the accurate positioning and fast attenuation of trolley oscillation due to frictions in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulations are shown under various frictions and external winds in the case of no priori information of payload mass.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.15 no.12
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• pp.1044-1052
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• 1990

We have investigated the digital bit synchronization problem in baseband communication receiver systems using the Gauss-Markov estimation technique which is equivalent to the weighted least square method. The realized bit synchronizer, including the data detector, processes the input signal two dimensionally into the transition phase and data level under the white Gaussian noise environment. We have confrmed the realiation of the bit synchronizer via computer simulation. In addition, we have compared and evaluated the estimation error performance of the proposed method with that of the conventional DTTL method and of the minimum likelihood method.

• Journal of the Society of Naval Architects of Korea
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• v.51 no.1
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• pp.88-98
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• 2014

A supercavitation is modern technology that can be used to reduce the frictional resistance of the underwater vehicle. In the process of reaching the supercavity condition which cavity envelops whole vehicle body, a vehicle passes through transition phase from fully-wetted to supercaviting operation. During this phase of flight, unsteady hydrodynamic forces and moments are created by partial cavity. In this paper, analytical and numerical investigations into the dynamics of supercavitating vehicle in transition phase are presented. The ventilated cavity model is used to lead rapid supercavity condition, when the cavitation number is relatively high. Immersion depth of fins and body, which is decided by the cavity profile, is calculated to determine hydrodynamical effects on the body. Additionally, the frictional drag reduction associated by the downstream flow is considered. Numerical simulation for depth tracking control is performed to verify modeling quality using PID controller. Depth command is transformed to attitude control using double loop control structure.

• Journal of the Semiconductor & Display Technology
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• v.14 no.3
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• pp.45-50
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• 2015

This paper suggests the sensor-less speed control of PMSM (Permanent Magnet Synchronous Motor) without the position sensor of oil-free air compressor. It estimated d and q axis back electro motive force using Back-EMF (Electro motive Force) observer to control sensor-less speed of PMSM. Also it used the method that tracks the information of rotor position and speed using PLL (Phase Locked Loop) based on estimated d and q axis Back-EMF. The sensor-less speed control of PMSM for oil air compressor application is carried out with the introduced rotor position and speed tracking method. In this paper, the experimental characterization of the sensor-less drive is provided to verify the accuracy of the estimated position and the performance of sensor-less control is analyzed by results obtained from the experiment. Moreover, the potential of PMSM sensor-less drive in industrial application such as compressor drive is also examined.

• Proceedings of the KIEE Conference
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• 1996.11a
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• pp.52-54
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• 1996

A number of algorithm using the VSS(Variable Structure System) for uncertain dynamic system are developed. But, in these algorithms, the assumption that the uncertainties are bounded and their bounds are available to the designer is involved. And bounds on the uncertainties are an important clue to guarantee the stability of the closed loop system. However, sometimes bounds on the uncertainties may not be easily obtained because of the complexity of the structure of the uncertainties. Therefore, a methodology by which the boundary values on the uncertainties can be easily obtained is required. The VSS proposed in this proposal employ the new adaptive VSS scheme for uncertain dynamic system being estimated on line. The resulting control law is simple and easy to apply to on line computer control. It can also suppress chattering and maintain good tracking precision even if unmodeled dynamics are considered. And, a new method using nonlinear switching surface is introduced so that the speed response is improved and the good transient response can be obtained. Simulation results are presented and show the advantage of the proposed adaptive VSS with nonlinear switching surfaces.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.12
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• pp.1709-1717
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• 2015

In remote islands PV (Photo Voltaic) panel with BESS (Battery Energy Storage System) supplies electric power to the customers in parallel operation with EG (Engine Generator) to save fuel consumption and to mitigate environmental load. BESS operates in voltage control mode when it supplies power to the load alone, while it operates in current control mode when it supplies power to the load in parallel with EG. This paper proposes a smooth mode change scheme from current control to voltage control of BESS by adding proper initial value to the integral part of voltage control, and a smooth mode change scheme from voltage control to current control by tracking the EG output voltage to the BESS output voltage using PLL (Phase-Locked Loop). The feasibility of proposed schemes was verified through computer simulations with PSCAD/EMTDC, and the feasibility of actual hardware system was verified by experiments with scaled prototype. It was confirmed that the proposed schemes offer a seamless operation in the stand-alone power system in remote islands.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.11
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• pp.2073-2082
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• 2010

The 4-th generation of mobile communication aims to realize global, fast and mobile communication service. The satellite communication charges a key role in this field. In this study, an OTM(On-The-Move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite was addressed. Since vehicles move during communication, active antenna line-of-sight stabilization is a core technology to guarantee high satellite communication quality. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. Various disturbance torques such as static and dynamic mass imbalance torques, variation of moment of inertia according to elevation angle, friction torque related to vehicle motion, equivalent disturbance torque due to antenna roll motion, etc. were analyzed. As a robust stabilization control, rate feedback with sliding mode control and position feedback with proportional+integral control was suggested. To compensate antenna roll motion, a supplementary roll rate feed forward control was included beside of the feedback control loop. The feasibility of the analysis and the proposed control design were verified along with some simulation results.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.3
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• pp.565-573
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• 2017

This paper presents a multistage in-flight alignment (MIFA) method for a strapdown inertial navigation system (SDINS) suitable for moving vehicles with no initial attitude references. A SDINS mounted on a moving vehicle frequently loses attitude information for many reasons, and it makes solving navigation equations impossible because the true motion is coupled with an undefined vehicle attitude. To determine the attitude in such a situation, MIFA consists of three stages: a coarse horizontal attitude, coarse heading, and fine attitude with adaptive Kalman navigation filter (AKNF) in order. In the coarse horizontal alignment, the pitch and roll are coarsely estimated from the second order damping loop with an input of acceleration differences between the SDINS and GPS. To enhance estimation accuracy, the acceleration is smoothed by a scalar filter to reflect the true dynamics of a vehicle, and the effects of the scalar filter gains are analyzed. Then the coarse heading is determined from the GPS tracking angle and yaw increment of the SDINS. The attitude from these two stages is fed back to the initial values of the AKNF. To reduce the estimated bias errors of inertial sensors, special emphasis is given to the timing synchronization effects for the measurement of AKNF. With various real flight tests using an UH60 helicopter, it is proved that MIFA provides a dramatic position error improvement compared to the conventional gyro compass alignment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.2
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• pp.310-323
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• 2004

In this paper, we extend the multiple time scale control framework to window-based congestion control, in particular, TCP This is performed by interfacing TCP with a large tine scale control nodule which adjusts the aggressiveness of bandwidth consumption behavior exhibited by TCP as a function of "large time scale" network state. i.e., conformation that exceeds the horizon of the feedback loop as determined by RTT Our contribution is threefold. First, we define a modular extension of TCP-a function call with a simple interface-that applies to various flavors of TCP-e.g., Tahoe, Reno, Vegas and show that it significantly improves performance. Second, we show that multiple time scale TCP endows the underlying feedback control with preactivity by bridging the uncertainty gap associated with reactive controls which is exacerbated by the high delay-bandwidth product in broadband wide area networks. Third, we investigate the influence of three traffic control dimensions-tracking ability, connection duration, and fairness-on performance. Performance evaluation of multiple time scale TCP is facilitated by a simulation bench-mark environment which is based on physical modeling of self-similar traffic.

• Journal of Power Electronics
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• v.19 no.4
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• pp.1000-1010
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• 2019

The use of internal-model-based linear controller, such as resonant controller, is a well-established technique for the current control of grid-connected systems. Attractive properties for resonant controllers include their two-sequence tracking ability, the simple control structure, and the reduced computational burden. However, in the case of continuous-designed resonant controller, the transient performance is inevitably degraded at a low switching frequency. Moreover, available design methods for resonant controller is not able to realize the direct design of transient performances, and the anticipated transient performance is mainly achieved through trial and error. To address these problems, the zero-order-hold (ZOH) characteristic and inherent time delay in digital control systems are considered comprehensively in the design, and a corresponding hold-equivalent discrete model of the grid-connected converter is then established. The relationship between the placement of closed-loop poles and the corresponding transient performance is comprehensively investigated to realize the direct mapping relationship between the control gain and the transient response time. For the benefit of automatic tuning and real-time adaption, analytical expressions for controller gains are derived in detail using the required transient response time and system parameters. Simulation and experimental results demonstrate the validity of the proposed method.