• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1596-1600
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• 2000

We propose a novel adaptive feed forward controller (AFC) design method for rejecting the effect of micro actuator resonance in the design of dual-stage actuator servo systems for disk drives. Microactuator's resonance is one of important issues in dual-stage actuator servo, which varies up to ${\pm}10%$ per product and even during operation. We derive an adaptive algorithm for the proposed AFC design, which turns out to be identical to the delayed-x LMS algorithm which is a special form of the filtered-x LMS algorithm. In the algorithm, coefficients of the AFC are adapted by the residuals of constrained structure defined in such a way that the coefficients become time invariant. Contrary to the conventional AFC, it considers the phase delay of closed-loop transfer function at resonance frequency for system stability. We also apply an adaptive algorithm with frequency tracking capability. The frequency tracking algorithm is induced by the orthogonality of AFC coefficients. Computer simulations are carried out to demonstrate effect of the proposed AFCs.

• 전기학회논문지P
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• 제67권2호
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• pp.57-62
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• 2018

A brush-less type synchronous generator driven by an internal-combustion engine is used for emergency electric source. These types of generators have to maintain a certain range of output voltage even under the sudden load change conditions such as full load application and removal. This paper describes a method for suppressing the output voltage of a synchronous generator that operates excessively when the load fluctuates. The method used in this paper is a feedforward control method in which the main voltage control consists of a feedback loop using a typical PID controller and the load current is detected as a disturbance element and compensated directly. A feedforward system is constructed in which the load current is regarded as disturbance, and the appropriate feedforward controller configuration and parameters are found through simulation. Finally, it can be seen through the experiment that the feedforward control is performed properly. It can be seen that the generator terminal voltage is recovered to the steady state in a short period of time as compared with the existing PID control method even when the entire load of the generator is changed.

• 한국생산제조학회지
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• 제7권5호
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• pp.15-28
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• 1998

Recently may investigations have been studied on the high-speed machining by using machine tools. A CNC machine tool makes some tool path errors caused by software acceleration/deceleration. The faster a cutting feedrate is, the bigger the tool path errors are. Some known methods reduce these kinds of errors, but they make the total cutting time increased. This paper presents a feed-forward algorithm that can be generated by distorting the original tool path, and reduces the tool path errors and the total cutting time. The algorithm to generate a new tool path is represented as following; 1)calculating each distance of software acceleration/deceleration between two adjacent blocks, 2) estimating the distorted distance which is the adjacent-ratio-constant(k1, k2) multiply the distance of software acceleration/deceleration, 3) generating a 3-degree Bezier curve approximating the distorted tool path, 4) symmetrically transforming the Bezier curve about the intersection point between two blocks, and 5) connecting the transformed Bezier curve with the original tool path. The algorithm is applied to FANUC 0M. The study is to promote the high-precision machining and to reduce the total cutting time.

• 수산해양기술연구
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• 제31권4호
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• pp.393-401
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• 1995

본 논문에서는 전압형제어에 의한 유도전동기의 토크 속응제어법의 메카니즘이 기술되어 졌다. 특히 본 논문에서는 펄스전압 인가에 의한 과도토크 소거원리를 전류레벨에서 해석함과 동시에 직관적 이해를 돕기 위해 벡터표현을 이용하여 제안 방식의 이론적 타당성을 입증하였다. 이상의 검토에서 얻어진 결과를 요약하면 다음과 같다. (1) 전압형제어에 있어서는 임펄스를 인가함으로써 스텝응답을 실현할 수 있다. (2) 유한 미소정정시간 $\Delta$를 매개로 정식화를 행함으로써, 토크의 스텝응답을 실현할 수 있는 이론적인 전압해 및 현실적으로 실현 가능한 전압해를 동시에 구할 수 있다. (3) 토크 속응제어를 $\Delta$이후의 과도전류가 0으로 되는 전압지령에 의해 실현하므로 펄스전압인가에 의한 스파이크 전류는 발생하지 않는다. (4) 전동기 정수가 불변 또는 실시간으로 동정된다면, 제안방식은 제어지령을 결정함에 있어서 전류정보에 직접 의존하지 않고도 피드포워드적으로 전압지령의 연산이 가능하다. 따라서 제어 시스템 구성의 간략화와 동시에 제어정도가 전류정보에 전적으로 의존하지 않는 제어계의 구축이 가능하다

• 한국산학기술학회논문지
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• 제14권4호
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• pp.1561-1567
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• 2013

본 논문은 헬리콥터 비행조종성능을 위한 비행제어법칙 설계에 대한 연구이다. 헬리콥터 비행조종성능관련 규격은 MIL-F-83300, ADS-33E이 사용되고 있으며, 이러한 요구조건을 만족하기 위한 자세 명령 타입의 제어기가 요구되고 있다. 본 논문에서는 ACAH 형태의 제어기설계와 성능 평가에 대해 기술하였다. 헬리콥터 동력학 방정식은 로터 동력학을 포함한 비선형 시뮬레이션 모델을 개발하고 정지 비행에서 전진속도까지 속도별로 트림조건을 이용한 선형모델을 구하여 사용하였다. 제어기 설계는 비행조종성을 만족하기 위해 명령모델추종방식을 사용하였고, 피드포워드 게인을 위한 단순한 역모델을 사용하였으며, 축간의 커플링을 줄이기 위한 디커플링 로직과 페이즈 모델이 적용되었으며 선형모델을 이용하였다. 비행성능 평가는 매트랩 기반의 Conduit을 이용하여 수행하였으며, 레벨 1의 기준을 만족함을 확인하였다.

• 한국방재안전학회논문집
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• 제16권3호
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• pp.45-56
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• 2023

본 연구에서는 능동소음제어(ANC) 기술을 층간소음 분야에 적용하기 위하여 40~500 Hz 대역의 중량충격음을 제어하기 위한 ANC 시스템을 구성하였다. ANC 시스템에는 Fx-LMS 알고리즘 기반의 적응형 필터를 활용한 피드포워드 방식의 제어기술을 도입하였다. ANC 시스템 설정을 위해 가상 시뮬레이션을 통해 ANC를 구성하는 변수 연구를 실시하였고, 이를 통해 최적 필터와 시스템 배치 방법을 정립하였다. 또한 본 연구에는 개발된 ANC 시스템을 한국건설생활시험연구원(KCL)의 층간소음 시험실에 설치한 후 표준시험방법에 따라 ANC 시스템 구동 전후 4 dB의 층간소음 저감효과를 확인하였다. 시험결과를 통해 본 연구에서 개발한 ANC 시스템이 중량충격음에 대한 등급 기준을 한 단계를 상향시킬 수 있는 수준의 효과가 있음을 확인하였다.

• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.543-550
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• 2014

In many industrial processes and operations, such as power plants, petrochemical industries and ships, shell and tube heat exchangers are widely used and probably applicable for a wide range of operating temperatures. The main purpose of a heat exchanger is to transfer heat between two or more medium with temperature differences. Heat exchangers are highly nonlinear, time-varying and show time lag behavior during operation. The temperature control of such processes has been challenging for control engineers and a variety of forms of PID controllers have been proposed to guarantee better performance. In this paper, a scheme to control the outlet temperature of a shell and tube heat exchanger system that combines the PID controller with feedforward control and anti-windup techniques is presented. A genetic algorithm is used to tune the parameters of the PID controller with anti-windup and the feedforward controller by minimizing the IAE (Integral of Absolute Error). Simulation works are performed to study the performance of the proposed method when applied to the process.

• 한국소음진동공학회논문집
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• 제21권9호
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• pp.820-827
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• 2011

Recently, noise has been regarded as one of the most notorious and frequent environmental pollutions which can be often encountered not only in the living space but also in the industrial site. Studies on physiological and psychological effects of long-term noise exposure to human being have commanded the public interest on noise issues. Since environmental noises such as traffic noise and construction noise is mainly flowed through the open window, it is necessary to develop the active noise control system to reduce it inside the building. Although control speakers and microphones for the noise signal measurement in the control region are essential for the conventional active noise control methods, it is impossible to implement them in the control region in the building environment because the control region is the living quarter and they may hinder activities of the residents. Therefore, we proposed the active window system to reduce the exterior noise flowed through the open window with microphones installed outside the window and control speakers installed at the frame of the window. To confirm the performance of the proposed active window, we carried out the simulation and experiment using active window system with 8 control speakers. Simulation results showed the noticeable noise reduction effect inside the control region within the frequency range without the spatial aliasing. Experimental result showed that the total acoustic potential energy inside the room of the scale model is reduced to about 10dB within the interest of frequency range.

• 대한기계학회논문집A
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• 제20권1호
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• pp.146-153
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• 1996

A SCARA type direct drive robot which can be used in the assembly operation was designed and manufactured. Graphite fiber epoxy composite material was used in the fabrication of the robot arm structure in order to improve the speed of the robot arm with a high damping effect. For model-based control and sensitivity analysis of system parameters, the dynamic model of robot arm and drive servo amplifier parameters such as equivalent gains of PWM driver and velocity gains of servo system were estimated from frequency response tests. The complete dynamic model for overall robot system was used in the simulation of the open-loop control. The simulation results agreed reasonably well to the experimental results. The feedforward control using the dynamic models improved the trajectory tracking performance, decreasing the tracking error by factor of three compared with PID control. This study found that the inverse dynamic model of the robot arm including the drive servo system showed better performances than the case of arm dynamic model only.

• 센서학회지
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• 제12권6호
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• pp.289-297
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• 2003

본 논문에서는 정신적 과제수행 동안 EEG 뇌파의 정확한 분류방법에 관하여 기술한다. 피험자는 실험 task에서 시각적 자극에 대한 반응, 문제의 해석, 손동작 제어와 키 선택을 수행한다. 선택시간을 감지하기 위하여 측정한 뇌파로부터 $\alpha$, $\beta$, $\theta$, $\gamma$를 분리하고 4가지의 특징들을 해석한파. 이 특징들을 분석하여 각 피험자별로 공통적인 특징플로 구성된 일반 규칙을 설정한다. 본 시스템의 신경망은 1개의 은닉층을 갖는 3층의 피드포워드 신경망 구조를 가지며 학습에는 역전파 학습 알고리즘을 이용하였다. 4명의 피험자를 대상으로 설정한 알고리즘들을 적용하여 평균 87% 분류 성공률을 보였다. 본 논문에서 제안한 방법은 인지적인 정신과제 판별을 위한 방법들과 결합하여 BCI 기술을 위한 기반 기술로 활용될 수 있다.