• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1864-1865
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• 2006

무인지능형로봇 시스템에 있어서 자세의 정확도를 향상시키기 위한 많은 연구가 이루어져 왔다. 시스템의 자세 제어는 사용되는 모터의 위치 제어로 대응된다. 이와 같은 시스템은 운용 시에 충격 진동이 발생하게 된다. 이러한 충격 진동 외란을 잘 제거해야 요구되는 위치 정도로 제어를 수행할 수 있다. 로봇 제어 분야에서 불확실한 로봇에 대한 자세 제어 분야는 가장 기본적이면서 중요한 분야중의 하나이다. 이러한 문제를 다루기 위하여 계산 토크 방식에 기초한 선형 제어 기법이나 적응 제어 기법, 강인 제어 기법 등을 이용한 연구 결과들이 발표되고 있다. 그러나 그러한 기법은 일반적으로 로봇의 정확한 동력학식을 알아야 하며, 구현하기 복잡하다. 따라서 본 논문에서는 적응 규칙에 의하여 모델의 불확실성, 시스템의 변화, 외란으로 인해 발생하는 공칭 플랜트와의 오차를 보상하도록 제어 입력을 생성하는 내부 루프 부분과 공칭 플랜트 모델의 명령을 추종하도록 하는 제어 입력을 생성하는 외부 루프 부분으로 구성되는 방법인 외란관측기(Disturbance OBserver : DOB) 제어 알고리즘을 제안한다. 또한 프로세서의 신뢰성과 수치 연산 및 알고리즘의 빠른 처리를 위해 현재 사용 빈도가 높은 TI사의 DSP시리즈 중에서 부동 소수점 연산 기능을 가지면서 모터 제어에 적합한 TMS320C2000계열의 TMS320F2812을 사용하여, 운용 시 발생되는 진동 둥에 대한 외란 제거를 목적으로 한다. 본 논문은 규명된 시스템 모델식을 바탕으로 DOB 제어 시뮬레이션을 수행하고 PMSM 모터모델 시뮬링크 블록을 구성하여 검증된 외란 관측기 제어 알고리즘을 검증한다. 시뮬레이션으로 검증된 DOB 모터 자세 제어 알고리즘을 DSP에 적용하기 위해 코드변환하고 모터 실험 시스템에 실제 적용함으로써 타당성을 검증하여 상용 제어기로 실제 현장에 적용 가능함을 입증한다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.1
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• pp.11-15
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• 2011

In this paper, a methodology for the power control of a wind turbine, which is the variable-speed and variable-pitch (VSVP) control system, is introduced. This control methodology maximizes the capability of the turbine to extract maximum power from the wind in the regions with low wind speeds. Further, it regulates the wind-turbine power as the rated power in the case of the regions with high wind speeds. A simple drive train model is used to design the VSVP control system. The methodology for VSVP control is mechanized by controlling the generator torque and blade pitch. Finally, some simulation results for the VSVP control to a MW wind turbine are discussed in this paper.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.2
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• pp.63-71
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• 2003

This paper presents a robust slewing control of a flexible space structure based on sliding surface design. A sliding surface is designed for a single-axis rest-to-rest slewing in view of target angle, target angular velocity, and root monent of the flexible appendage. In comparison with the Lypunov control law, both controllers guarantee the stability and command tracking capabilities for nominal system. It is also shown that the designed control law provides further robustness to internal/external uncertainties. Extending the results of a single-axis maneuver, a sliding mode control law was sought for an arbitrary three-axis maneuver. Quaternion was used to determine the attitude of a space structure and sliding surfaces were designed for each axis, thereby a robust control law was derived considering the coupling effects between each rotational axis during the maneuver. Several numerical examples were demonstrated to show the effectiveness of the designed control law.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.11
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• pp.963-970
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• 2015

In this study, the pressurization characteristics of the small piezoelectric hydraulic pump for a brake system has been analyzed through modeling the full hydraulic pump components; the pump chamber, check valve, pump load, pump drive controller etc. To analyze the pressurization characteristics, the process of charging pressure in the chamber with stacked-layer piezoelectric actuator were firstly modeled. Secondly, the flow coefficient of the check valve in terms of valve opening has been calculated after computational fluid dynamics analysis, such as the pressure distribution around check valve and the flow rate, was conducted. Also the pump driving controller, which controls the input voltage to the actuator, was designed to make the load pressure follow the input pressure command. The simulation results find that it takes about 0.03ms to reach the operating load pressure required for the braking system. The simulation result was also verified through comparison to the result of the pump performance test.

• Journal of Aerospace System Engineering
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• v.11 no.1
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• pp.14-21
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• 2017

A Linear parameterized Sigma-Pi neural network (SPNN) is applied to a tilt-duct unmanned aerial vehicle (UAV) which has a very large longitudinal stability ($C_{L{\alpha}}$). It is uncontrollable by a proportional, integral, derivative (PID) controller due to heavy stability. It is shown that the combined inner loop and outer loop of SPNN controllers could overcome the sluggish longitudinal dynamics using a method of dynamic inversion and pseudo-control to compensate for reference model error. The simulation results of the way point guidance are presented to evaluate the performance of SPNN in comparison to a PID controller.

• Journal of Aerospace System Engineering
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• v.11 no.5
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• pp.28-35
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• 2017

Magnetic Suspension and Balance System (MSBS) demonstrates the capacity to levitate an experimental model absent any mechanical contact using magnetic forces and moments. It allows precise control of position and attitude of the model, and measures external forces and moments acting on the model. For the purpose of acquisition of reliable experimental results under stable and safe conditions, the performance and robustness of the position and attitude control system of MSBS needs to be improved. To this end, Iterative Feedback Tuning (IFT) and L1 adaptive output feedback algorithm were employed to automatically increase command following performance and to ensure robust operation of MSBS with failure of electric power supply. The applicability was validated using computational simulation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.1
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• pp.387-392
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• 2020

This paper proposes a flow-rate control system for industrial valves. Industrial valves are used in piping systems to control the flow rate and pressure. In general, valves used in pipelines are classified into globe valves, butterfly valves, and ball valves according to the shape. Motor, hydraulic, and pneumatic systems are used for operating valves. The flow meter should measure the flow rate when configuring the flow-rate control system. On the other hand, because the flow rate of the valve can be expressed by flow coefficient, a control scheme is proposed using the pressure deviation, which measures at the front and rear of the valve. The transfer function for the valve, according to the control input, was estimated using the signal compression method. Based on the induced transfer function, the disturbance observer was designed to improve the command following the performance of the valve stem. The performance of the proposed control method is compared with the flow-rate control result using the flow meter used.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.9
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• pp.142-149
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• 2019

In the early 2000s, the Korean government first attempted to acquire nuclear-powered submarines as strategic assets. Acquisition of nuclear-powered submarines must overcome the challenges of the initial costs and operating costs of trillions of US dollars per ship, must be agreed to by the international community (including neighboring countries) and in a national consensus, and must have an established technical infrastructure (including manpower). The US navy has been working with governments that want to acquire nuclear propulsion warships since the 1950s, and in 1982, they enacted an executive order called the United States Naval Nuclear Propulsion Program to consolidate efforts and prepare for the future, which sets out the organizational structure, authority, and responsibilities of US governmental management, and integrates national efforts. This paper is to gain valuable wisdom from the U.S. Naval Nuclear Propulsion Program by analyzing all of its histories and contributions, thereby providing valuable lessons for a future program in Korea. It might not be possible to follow the U.S.A. one-on-one because of the scale of national and military forces, but at least we can avoid time and effort spent on trial and error.