• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.555-558
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• 2002

The general ways of the anti-islanding can be classified into the active method and passive method. The passive method which use only the voltage information when power failure occurs has much possibility of the wrong detection. And the active method detects the change of the voltage frequency as instantaneously changing the frequency of the inverter output current. Therefore, in this paper, the method to inject arbitrary order harmonics into controlled current is proposed. In this method islanding can be detected by measuring the amount of load voltage of injected harmonics order. And as a current control method predictive control method is used, which make actual current accurately to track reference current by Instantaneously computing converter output voltage and has fast response in transient state. This parer proposed method was verified by simulation.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.231-240
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• 2015

In this paper, it was presented to design and analyze the kinematics of grasping a rigid object by means of multi-degrees-of-freedom hand fingers. It is shown firstly that a set of kinematic equation describing dynamics system of the arm and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It has been presented secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this research, the control method for static stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the kinematic grasping of the hand fingers of robot.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.83-93
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• 2002

This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven for following straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional-integral-derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90$^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and these results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of the Korea Institute of Military Science and Technology
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• v.25 no.6
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• pp.586-595
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• 2022

In this paper, we propose a formation control algorithm for multi-USVs according to COLREGs. First, we applied the Dynamic Window Approach algorithm that can reflect the kinematic characteristics for the path movement of USVs. Then, we propose a virtual structure-based virtual leader-follower method that applies the advantages of leader-follower and virtual structure methods among conventional formation control algorithms for stability. Next, we proposed a collision avoidance algorithm according to all COLREGs when encountering an opposing ship by adding COLREGs situational conditions to the virtual leader, and finally confirmed the feasibility of the proposed method through simulation.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.1
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• pp.128-136
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• 2013

This study presents the development of Gateway Control Module using SAE J1939 protocol for the commercial vehicles. Presently, the load rate of CAN bus is increased by the single network composition and addition of new ECUs for development of intelligent vehicles. Because the embedded system of the integrated network control function has the errors of the CAN bus caused by the increase of ECU, it is needed for development of commercial vehicles. Also, this study presents the development of smart functions that can diagnosis CAN bus errors, fault diagnosis of ECU and basic function that arbitrates CAN bus between ECUs of commercial vehicle. GCM was designed for 4channel separation about Gateway function as solution of load rate decrease and smart functions. HILS(Hardware in the loop simulation)system that can achieve simulation about CAN Messages of all systems on vehicle was applied to evaluate performance and verification of all functions and performance. The load rate on CAN bus was decreased at using functions what was delivery, block and process of GCM. Through this, it was enabled to organize systematic architecture for gateway.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.1
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• pp.63-74
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• 2001

In this study, a cycle simulation program of a Unit-Injection(UI) system was developed to estimate the injection performance of newly designed injection system. A fundamental theory of the simulation program is based on the conservation law of mass. Loss of fuel mass in the system due to leakage, compressibility effect of the liquid fuel and friction loss in the control volume was considered in the algorithm f the program. For the evaluation of the simulation program developed, the experimental result which was offered by the Technical Research Center of Doowon Precision Industry Co. was incorporated. Two main parameters; the maximum pressure in the plunger chamber and total fuel mass(kg) injected into the engine cylinder per cycle, were measured and compared with the simulation results. It was found that the maximum error rate of the simulation result to the experimental output was less than 3% in the rated rotational speed (rpm) range of the plunger cam.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2725-2730
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• 2003

In this study we present a vibration controller for articulated robots that has flexible joints modeled as a 2-mass system. Most of articulated robots have time varying load inertias for each axis according to its motion. Moreover, the inertias vary drastically; for the base axis of articulated robots it may vary about 10 times of its minimum value. But, for industrial robots and many mechatronic devices, it is desirable to maintain control performance in spite of load inertia variation. So we propose a control gain adjustment rule considering the time-varying nature of load inertia. In this gain-adjusting algorithm, the pole locations are in proportion to the anti-resonance frequency of the 2-mass system. The simulation and experimental results show uniform properties in overshoot in spite of the variation of load.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.606-608
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• 1996

In this paper, a new control scheme based on deadbeat control with disturbance observer for voltage controlled Inverter system is proposed. The inverter system is modelled as the 4th-order system treating R load current variation caused by disturbance. So the disturbance observer exists in the state observer. By using the pole placement strategy, the observer estimates the state and disturbance variable of the next sampling instant. Simulation results so show that The proposed scheme has robust feature against disturbance.

• Journal of Power Electronics
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• v.16 no.3
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• pp.960-969
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• 2016

High-power three-level voltage-source converters are widely utilized in high-performance AC drive systems. In several ultra-power instances, the harmonics on the grid side should be reduced through multiple rectifications. A combined harmonic elimination method that includes a dual primary-side series-connected winding transformer and selective harmonic elimination pulse-width modulation is proposed to eliminate low-order current harmonics on the primary and secondary sides of transformers. Through an analysis of the harmonic influence caused by dead time and DC magnetic bias, a synthetic compensation control strategy is presented to minimize the grid-side harmonics in the dual primary side series-connected winding transformer application. Both simulation and experimental results demonstrate that the proposed control strategy can significantly reduce the converter input current harmonics and eliminates the DC magnetic bias in the transformer.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.474-477
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• 2004

This paper deals with a design experience of Control Element Drive Mechanism (CEDM) that is used to withdraw or insert control rods in nuclear reactor. The design is carried out to satisfy the performance requirements for CEDM that were given to ensure reliable and secure actions of the rods. The electrical parameters for four coils that energize the mechanical actuators in CEDM are determined first, Then a computer simulation for CEDM with these coils is performed to see how it works. An adjustment of the coil parameters is made from the simulation results. Finally, it is shown that our final design is valid to guarantee the required performance since the FEM(finite Element Method) calculation shows sufficient vertical attraction forces of a lift armature and a latch magnet, and good dynamics with a full load.