• 전자공학회논문지SC
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• 제40권6호
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• pp.1-7
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• 2003

본 논문은 비선형 시스템에서 시스템의 출력이 주기적인 특징을 가지는 궤적을 따라가도록 하는 슬라이딩 모드 반복 제어기를 소개한다. 본 논문에서 제안하는 제어기는 전체 시스템을 안정화시키며 출력오차를 어떤 범위 안으로 지수적으로 수렴시키는 슬라이딩 모드 제어기와 추적 오차의 수렴을 위해서 사용되는 반복 제어기로 구성되어 있다. 본 논문에서는 제안하는 슬라이딩 모드 제어기는 기존의 방법과는 다르게 제어입력의 크기가 추적오차의 크기에 비례하게 되어 있어서 시스템의 차수를 올리지 않고 정상상태에서의 채터링(chattering) 문제를 크게 개선하는 특징을 가지고 있다.

• IEIE Transactions on Smart Processing and Computing
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• 제3권2호
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• pp.83-87
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• 2014

This paper introduces a refined opportunistic interference alignment (OIA) technique that uses minimum mean square error (MMSE) detection at the receivers in multiple-input multiple-output multi-cell uplink networks. In the OIA scheme under consideration, each user performs the optimal transmit beamforming and power control to minimize the level of interference generated to the other-cell base stations, as in the conventional energy-efficient OIA. The result showed that owing to the enhanced receiver structure, the OIA scheme shows much higher sum-rates than those of the conventional OIA with zero-forcing detection for all signal-to-noise ratio regions.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2002년도 전력전자학술대회 논문집
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• pp.343-346
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• 2002

In recent, complex SVPWM (Space Vector PWM) algorithm can be easily implemented by high performance microprocessor and DSP. Various SVPWM techniques are widely studied due to the advantages of low harmonic distortion and high use ratio of D.C. link voltage. Most of various studies for improving of VS-PWM inverter performance are concentrated about switching pattern and zero pulse pattern split algorithms. However, dc link voltage that is determined at rated load and speed conditions is not proper in the low speed and under rated load. In this paper, analysis of current ripple with digitally implemented SVPWM inverter is introduced according to link voltage. The optimal link voltage in the designed inverter system and load condition is provided in order to suppress output voltage error and current ripple. As remaining the effective voltage vector interval per sampling period sufficiently, additional voltage error and current ripple are suppressed. The proposed algorithm is verified through digital simulation and experimental results.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제48권2호
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• pp.63-68
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• 1999

This pper describes a digital sensorless drive of permanent magnet brushless DC motors. In order to detect in real time the rotor positions of which Emf becomes zero, terminal voltages are sampled during PWM duty cycle. This method generates detection error in indirect sensed position, which is the harmonic component of PWM frequency. In this paper, the drive adopted Butterworth low pass filter for rejection of the sensing error and for accurate estimation of commutation time. Analytical design process of the digital filter is proposed and the experimental results show that the performance of the proposed sensorless drive is superior to that of the sensorless drives without filterint.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.261-261
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• 2000

This paper analyzes the characteristics of pre-sliding friction of an X-Y table of CNC machining center at velocity reversal, and presents a simple and effective method of friction compensation based on this characteristics. At velocity reversal, a large position tracking error occurs because of the discontinuous change of friction. The relationship between the occurrence time of maximum position tracking error and the acceleration at zero velocity is analyzed by using the spring-like friction model. Furthermore, the experimental observation verifies this relation. From this, the state transition tine from pre-sliding regime into sliding regime can be predicted. Using the predicted transition time, the friction can be effectively compensated and table experimental results show its effectiveness.

• 한국통신학회논문지
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• 제35권6C호
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• pp.547-553
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• 2010

In this paper, novel approximated closed-form expressions of the SER(Symbol Error Rate) and BER(Bit Error Rate) are presented for the multi-input multi-output space-time block coding(MIMO-STBC) system employing two transmit and N receive antenna(s) in Rayleigh fading channels. Assuming a zero-forcing equalizer and a single-symbol maximum-likelihood (ML) decoder, the formulas are derived for the SER and BER, and then their approximated counterparts are also derived. In the derivation of the approximated expressions, acurve-fitting model is adopted that can eliminate the integral operators in the exact expressions.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2424-2426
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• 2002

This paper proposes an adaptive control method of partially known system and shows its application result to control for two-wheeled WMR. The controlled system is stable in the sense of Lyapunov stability. To design a tracking controller for welding path reference, an error configuration is defined and the controller is designed to drive the error to zero as fast as desired. Moments of inertia of system are considered to be unknown system parameters. Their values are estimated using update laws in adaptive control scheme. The effectiveness of the proposed controller is shown through simulation results.

• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.937-943
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• 2016

Vertical velocity is critical in many areas, such as the control of unmanned aerial vehicles, fall detection, and virtual reality. Conventionally, the integration of GPS (Global Positioning System) with an IMU (Inertial Measurement Unit) was popular for the estimation of vertical components. However, GPS cannot work well indoors and, more importantly, has low accuracy in the vertical direction. In order to overcome these issues, IMU-barometer integration has been suggested instead of IMU-GPS integration. This paper proposes a new complementary filter for the estimation of vertical velocity based on IMU-barometer integration. The proposed complementary filter is designed to minimize drift error in the estimated velocity by adding PID control in addition to a zero velocity update technique.

• 대한전기학회논문지
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• 제37권5호
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• pp.319-326
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• 1988

In the presence of unmodeled dynamics, the robustness of adaptive pole assignment control using new pseudo-plant is presented. The pseudo-plant proposed by Donati et al. is modified as the gain of low pass filter can be set from zero to one. This modified pseudo-plant results in the reduction of modeling error. It is shown that not only this approach is insensitive to input frequency but also it improves the conic condition developed by Ortega et al. which is required to assure stability of adaptive control system despite the model-plant mismatch. A simple method to compensate the tracking error due to the use of pseudo-plant is considered.

• 대한기계학회논문집A
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• 제21권6호
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• pp.933-941
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• 1997

In the analysis of thin elastic structures such as plate and shell-like structures, classical lower-order theories like Kirchhoff and Reissner-Mindin theories are insufficient to describe the behavior of such structures in the region where the state of stresses is complex. On the other hand, the fully three dimensional theory of linear elasticity can provide desired analysis accuracy, but requires expensive computational implementation compared to the classical theories. This paper is concerned with the development of hierarchical models for elastic structures which can be used for hierarchical modeling for the analysis of such structures. Derivation and limit model analysis (when the thickness of structures tends to zero) of hierarchical models are presented together with a introduction of modeling error estimation. Also, numerical results supporting theoretical results are given.