• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.934-935
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• 2015

This paper presents the sensorless control method that employs the adaptive back-EMF(Electromotive Force) and current model observer of interior permanent magnet synchronous motor(IPMSM). The estimated back EMF considering a saliency is obtained by using the adaptive control method. The estimated EMF is inputted to the current model observer which is connected in series with adaptive back EMF estimator and is used to estimate the position and speed of the rotor. In order to improve the shortcomings of conventional method using the current error components multiplied in the compensation constant, the modified instantaneous reactive power compensator is applied. The validity of the control system presented is verified by the simulation.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.469-474
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• 2000

A sliding mode control method using the parameterization of both the hyperplane and the compensator for output feedback and reduced observer is presented for rotational inverted pendulums. This control strategy overcomes the problem of unattainable velocity state which is resulted from severe noise of analogue sense and constructs numerical algorithms designs of dynamic output feedback sliding mode hyperplane and controller. The result of the experiment shows the superior performance compared with the LQ controller and the robustness with respect to both tapping disturbances and certain initial conditions.

• The Transactions of the Korean Institute of Power Electronics
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• v.5 no.2
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• pp.163-169
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• 2000

From the viewpoint of the cost effective design of power conversion systems, it is very important to fully u utilize the CillTent capacity of power devices over all circumstances. Therefore this paper deals with the l practical design of digital CillTent controller to meet the requirements of fast and overshoot free control r response over the varying control voltage bOlmds, the accompanied computational delay, and the system U W1certainties. The proposed controller consists of high gain PI control schemes using both the conditional i integrator and the modified delay compensator. The simulation and experimental results show the validity of t the proposed controller.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.82-89
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• 2003

A robust motion control method is proposed fur the point-to-point position control of a XY positioning system which consists of a base cart, elastic ben and moving mass. The horizontal motion controller consists of the feedforward controller to suppress the single mode vibration of the elastic beam and the feedback controller to get the high-accuracy positioning performance of the base cart. Input preshaping vibration suppression method based on system modeling with analytic frequency equation is proposed and integrated into the robust internal-loop compensator(RIC) to increase the robustness of the whole closed-loop system The vertical motion controller is proposed based on the dual RIC structure. Through experiments, it is shown that the proposed method can stabilize the system and suppress the vibration in the presence of uncertainties and disturbances.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.5
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• pp.603-609
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• 2004

This paper deals with the issue of Neural Network-based control for a rodless pneumatic cylinder system which is utilized for a pneumatic XY-plotter. In order to identify the system design parameters, the open loop response of a pneumatic rodless cylinder controlled by a pneumatic servovalve is investigated by applying a self-excited oscillation method. Based on the system design parameters, the PD feedback compensator is designed and then Neural Network is incorporated with it. The experiment of a trajectory tracking control using a PD-NN has been performed and proved its excellent performance by comparing with that of a PD feedback compensator.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.3
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• pp.394-401
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• 2010

In this article, we investigate a robust friction compensation scheme for the purpose of accomplishing precision positioning performance a servo mechanical system with nonlinear dynamic friction. To estimate the friction state and tackle robustness problem for uncertainty, a RFNN and reconstructed error compensator as well as a robust friction state observer are developed. The asymptotic stability of the series of friction compensation methodologies are verified from the Lyapunov's stability theory. Some simulations and experiments on a servo mechanical system were carried out to evaluate the effectiveness of the proposed control scheme.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.8-15
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• 2024

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H_∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

• Journal of Power Electronics
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• v.17 no.5
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• pp.1298-1307
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• 2017

The constant on-time current-mode controlled (COT-CMC) switching dc-dc converter is stable, with no subharmonic oscillation in its current loop when a voltage ripple in its outer voltage loop is ignored. However, when its output capacitance is small or its feedback gain is high, subharmonic oscillation may occur in a COT-CMC buck converter with a proportional-integral (PI) compensator. To investigate the subharmonic instability of COT-CMC buck converters with a PI compensator, an accurate reduced-order asynchronous-switching map model of a COT-CMC buck converter with a PI compensator is established. Based on this, the instability behaviors caused by output capacitance and feedback gain are investigated. Furthermore, an approximate instability condition is obtained and design-oriented stability boundaries in different circuit parameter spaces are yielded. The analysis results show that the instability of COT-CMC buck converters with a PI compensator is mainly affected by the output capacitance, output capacitor equivalent series resistance (ESR), feedback gain, current-sensing gain and constant on-time. The study results of this paper are helpful for the circuit parameter design of COT-CMC switching dc-dc converters. Experimental results are provided to verify the analysis results.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.2283-2284
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• 2008

TCR(Thyristor Controlled Reactor, 싸이리스터 제어 리액터)를 사용한 SVC(Static VAR Compensator, 정지형 무효전력 보상장치)의 모델링을 제시한다. 이 모델링을 전력계통의 전압 제어에 적용하며 EMTP(Electro-Magnetic Transient Program, 전자기적 과도현상 해석 프로그램)를 통하여 시뮬레이션의 결과를 도출하고 EMTP를 통한 모델링을 확인한다.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.534-534
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• 2000

This paper proposes a dynamic compensation scheme for input-constrained feedback linearizable nonlinear systems to cope with the windup phenomenon. Given a feedback linearizing controller for such a nonlinear system designed without considering its input constraint, an additional dynamic compensator is proposed to account for the constraint. This dynamic anti-windup is based on the minimization of a reasonable performance index, and some stability properties of the resulting closed-loop are presented.