• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.6
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• pp.246-263
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• 2023

The stabilization time of take-over refers to the time it takes for driving to stabilize after the take-over. Following a take-over request from an automated driving system, the driver must become aware of the road driving environment and perform manual driving, making it crucial to clearly understand the relationship between the driving environment and stabilization time of take-over. However, previous studies specifically focusing on stabilization time after take-over are rare, and research considering the driving environment is also lacking. To address this, our study conducted experiments using a driving simulator to observe take-over transitions. The results were analyzed using a liner mixed model to quantitatively identify the driving environment factors affecting the stabilization time of take-over. Additionally, coefficients for stabilization time based on each influencing factor were derived.

• Proceedings of the KIEE Conference
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• 2004.11b
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• pp.179-182
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• 2004

본 논문에서는 Lie Group theory에 기준한 $H_{\infty}$ 스위칭 제어기에 의한 비선형 전력계통안정화장치 (NPSS)를 설계하고 이를 1기 무한 모선에 적용하여 제안된 제어기의 제어효과 및 영향분석을 실시하였다. 이 분석에 사용된 기존의 PSS type은 Lead-lag 형태의 선형화 제어기이며, 제안된 제어기는 전력계통에 매우 강한 비선형을 반영하여 제어가 가능한 Lie Group theory에 기준한 비선형 제어기로 되어있다. 제안된 Lie Group theory에 기준한 비선형 전력계통안정화장치 (NPSS)의 효과분석은 MATLAB을 이용하여 1기 4차 비선형 전력계통의 모델에 적용하여 시뮬레이션하였다.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.2
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• pp.168-175
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• 1999

Unlike a general inverted pendulum system which is moved on the cart the proposed inverted pendulum system in this paper has an inverted pendulum which is moved on the two-degree-of-freedom parallelogram link. The dynamic equation of the pendulum system activated by the DD(Direct Drive)motor includes many nonlinear terms and has the high degree of freedoms. The problem is followed hat the exact mathmatical equations can not be analized by a general linear theory However the neural network trained by a simple learning method can control the dynamic system with hard nonlinearities. Learning procedure is the backpropagation algorithm with super-visory signal. The plant inputs obtained by the designed neural network in this paper can stabilize the pendu-lem and get the servo control. Experiment results have proce the effectiveness of the designed neural network controller.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.15 no.4
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• pp.315-323
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• 1990

A design technique of dynamic stabilization controller for the intrinsic unstable inverted pendulum system is introduced. Mathematical modelling with the more complex nonlinearity and the stabilized control theory presented by C.D.Johnson are adapted to this system by using the state-space approach. And the Stabilized controller with the designed optimal regulator type which can be fastly tracked and can be accurately counteracted aginst all effects of the constant distrubances and the parameteric variations is simulated and is implemeted successfully on the microcomputer.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.1
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• pp.59-64
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• 2017

In this paper, a controller for discrete Takagi-Sugeno(T-S) fuzzy model under imperfect premise matching is proposed. Most of previous papers have obtained the stabilization condition using common quadratic Lyapunov function. However, the stabilization condition may be conservative due to the typical disadvantage of the common quadratic Lyapunov function. Hence, in order to solve this problem, we propose the stabilization condition of discrete T-S fuzzy model using fuzzy Lyapunov function. Finally, the proposed approach is verified by the simulation experiments.

• Proceedings of the KIEE Conference
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• 2003.11a
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• pp.300-302
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• 2003

본 연구에서는 발전기에 적용된 전력계통안정화장치(Power System Stabilizer)의 적용사례를 분석한다. 전력계통안정화장치에 적용된 알고리즘은 Lead-Lag 제어기가 있고, 현대 제어이론에 바탕을 둔 LQR, LQG, $H_{\infty}$, 슬라이딩모드 제어기, 비선형궤환제어기가 있다. 그 외에 퍼지제어기, 뉴럴 제어기, 진화연산제어기등이 있다. 이중에 전력계통안정화장치의 제어알고리즘에 대하여 대표적인 사례를 파악하고져 한다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.10
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• pp.1045-1052
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• 2015

In this paper, a stabilized control algorithm for the large rotating stand of a long-range surveillance radar (LRSR) system is introduced. The stabilized control algorithm for this large rotating stand system was designed using mathematical plant modeling. The LRSR system is located on high ground and has a wide surface, making it susceptible to the effects of wind, which increases the bearing friction and reduces the stability of the rotating stand. The disturbance caused by the wind was analyzed using computational fluid dynamics (CFD) in this study. The results of the CFD analysis were used to construct a control algorithm for the disturbance . The performance of the proposed control algorithm was demonstrated experimentally and through simulations. The plant model and the control algorithm were constructed in Matlab/Simulink.

• Proceedings of the KIPE Conference
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• 2019.07a
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• pp.404-405
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• 2019

본 논문에서는 PMSM(Permanent magnet synchronous motor)의 MTPA(Maximum Torque Per Ampere) 운전을 고려한 V/f 제어 시 안정화 기법에 대해 제안한다. PMSM은 V/f 제어 시 부하 변동에 따라 탈조할 가능성이 있다. 제안된 기법은 안정도 개선을 위해 추정된 q축 전류를 이용하여 부하 변동정보를 얻고 이를 바탕으로 고정자 주파수를 변동하여 회전자 속도가 동기속도를 유지할 수 있는 안정화 기법을 적용하였다. 제안된 안정화 기법으로 저속 영역부터 약자속 영역까지 부하변동에도 안정적인 운전이 가능하도록 하였다. 1kW SPMSM의 모의실험을 통하여 제안된 기법의 효용성을 검증하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.1
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• pp.59-64
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• 2005

In the paper, we propose an intelligent walking algorithm of biped robot on the uneven ground and a posture stabilization algorithm against external forces. At first, the mechanics and the control system of biped robot that can walk on the uneven ground and stand external forces are designed. We propose obstacle hurdling, incline walking. and going-up stairs algorithm by using infrared sensors and FSR sensors. Also, posture stabilization algorithm against external forces is designed using FSR sensors. Infrared sensors ate used to detect the obstacles in the working environment and FSR sensors are used to obtain the ZMP of biped robot. The developed biped robot can be controlled by the remote control system using vision system and RF module. The experimental results show that the biped robot Performs obstacle avoidance, obstacle hurdling, walking on the inclined plane, and going up stairs using the proposed walking and stabilization algorithm.

• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.424-426
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• 2005

운전 속도 영역이 넓은 응용분야에서 극수가 많은 전동기를 설계하는 경우, 고속 운전 영역에서는 동기 좌표계 회전 주파수가 샘플링 및 스위칭 주파수에 가까워진다. 이 경우 하위 전류 제어 회로(inner current control loop)가 불안정해지면서 전류가 발산하는 현상이 발생한다. 본 논문에서는 전동기의 고속 운전 영역에서 하위전류 제어 회로가 불안정해지는 이유를 분석하고, 기존에 쓰이던 전류 제어기의 구조를 개선하여 고속에서도 전류 제어를 안정화시키는 방법을 제안한다.