• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 추계학술대회논문집
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• pp.237-242
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• 2000

The areal recording density of HDD(Hard Disk Drive) has been increasing by about 60% a year. In order to achieve high areal density, less track pitch is expected and more servo bandwidth is required. Dual stage actuator and servo controller for HDD have been suggested for achieving high track density as a possible solution. Dual-loop servo system is generally classified into a two-input-two-output system, but if we use an estimator for a two-input-two-output system, it can be converted into two input one output system. Since we can't control the dual stage servo system by the classical method, it requires a special technique; for example, Parallel Loop System, Master-Slave Loop System, Decoupled Master-Slave Loop System, and Dual Feedback Loop System. In this paper, we performed experimental evaluations of several types of control algorithm. Further experiments will be made in the future.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.948-951
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• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.275-284
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• 2012

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.537-542
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• 2014

This paper proposes a control system to keep the balance of a unicycle robot. The robot consists of the disk and wheel, for balancing and driving respectively, and the tile angle is measured and used for balancing by the IMU sensor. A PID controller is designed based on a non-model based algorithm to prove that it is possible to control the unicycle robot without any approximated linear system model such as the sliding mode control algorithm. The PID controller has the advantage that it is simple to design the controller and it does not require an unnecessary complex formula. In this paper, assuming that the pitch and roll axis are dynamically decoupled, each of the two controllers are designed separately. A reaction wheel pendulum method is used for the control of the roll axis, that is, for balancing and an inverted pendulum concept is used for the control of the pitch axis. To confirm the performance of the proposed controllers using MATLAB Simulink, the dynamic equations of the robot are derived.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.452-461
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• 2007

Adaptive anti-sway and trajectory tracking control of overhead crane is presented, which utilizes Fuzzy Uncertainty Observer(FUO) and Fuzzy based Variable Structure Control(FVSC). We consider an overhead crane system which can be decoupled into the actuated and unactuated subsystems with its own lumped uncertainty such as parameter uncertainties and external disturbance. First, a new method for anti-sway control using FVSC is proposed to improve the conventional method based on Lyapunov direct method, while a conventional trajectory tracking control law using feedback linearization is directly adopted. Second, FUO is designed to estimate one of the two lumped uncertainties which can compensate both of them, based on the fact that two lumped uncertainties are coupled with each other. Then, an adaptive anti-sway control is proposed by incorporating the proposed FVSC and FUO. Under the condition that the observation error is Uniformly Ultimately Bounded(UUB) within an arbitrarily shrinkable region, the overall closed-loop system is shown to be Globally Uniformly Ultimately Bounded(GUUB). In addition, the Global Asymptotic Stability(GAS) of it is shown under the vanishing disturbance assumption. Finally, the effectiveness of the proposed scheme has been confirmed by numerical simulations.

• 대한기계학회논문집A
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• 제33권1호
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• pp.27-33
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• 2009

Human postural responses appeared to have stereotyped modality, such as ankle mode, knee mode and hip mode in response to various perturbations. We examined whether human postural control gain of full-state feedback could be decoupled along with the eigenvector. To verify the model, postural responses subjected to fast backward perturbation were used. Upright posture was modeled as 3-segment inverted pendulum incorporated with feedback control, and joint torques were calculated using inverse dynamics. Postural modalities such as ankle, knee and hip mode were obtained from eigenvectors of biomechanical model. As oppose to the full-state feedback control, independent eigenvector control assumes that modal control input is determined by the linear combination of corresponding modality. We used optimization method to obtain and compare the feedback gains for both independent eigenvector control and full-state feedback control. As a result, we found that simulation result of eigenvector feedback was not competitive in comparison with that of full-state feedback control. This implies that the CNS would make use of full-state body information to generate compensative joint torques.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.248-252
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• 2003

This paper has a control method proposed for the effective self-tuning fuzzy speed control based on neural network of the induction motor indirect vector control. The vector control of an induction motor provides the decoupled control of the rotor flux magnitude and the torque producing current to performance is desirable. But, the drive performance often degrades for the machine parameter variations and its condition give rise to coupling of flux and torque current. The fuzzy speed control of an induction motor has the robustness about machine parameter variations compared with conventional PID speed control in a way. That proved to be some waf from the true. The purpose of this paper is to improve the adaptation by offering self-turning function to fuzzy speed controller. In this paper, the adaptive mechanism of fuzzy speed control in used ANN(Artificial Neural Network) technique is applied in an IFO induction machine drive, such that the machine can follow a reference model (an ideal field oriented machine) to achieve desired speed. In this paper proved the self-turning method of fuzzy controller has the robustness about parameter variation and the wide range of adaptation by simulation.

• 전력전자학회논문지
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• 제4권1호
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• pp.1-12
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• 1999

파라미터 변동이나 외란에 강인한 영구자석 동기전동기의 궤환선형화 속도제어기를 설계하고 DSP를 이용하여 실험 시스템을 구현하였다. 시스템의 상태변수에 비하여 매우 느리게 변화하는 파라미터의 추정을 위하여 MRAS를 이용한 추정방법이 MIT rule을 이용하여 유도되었다. 외란이나 시스템의 상태변수 정도의 변화를 보이는 피라미터에 대하여는 그영향이 고려된 준-선형화 비간섭 모델이 유도되었다. 이 모델을 이용하여 제어시스템의 강인성을 얻고자 경계층을 가지는 Sliding mode 제어기를 설계하고 PD 제어기를 적용한 기존의 제어기와 비교하였다. 제안된 제어 방법의 유용성은 Simulation과 DSP에 기반한 실험 시스템을 통하여 검증하였다.

• Journal of Electrical Engineering and Technology
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• 제3권4호
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• pp.528-537
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• 2008

Primary frequency control(PFC) has the ability to regulate short period random variations of frequency during normal operation conditions and also to respond rapidly to emergencies. However, during the past decade, numerous significant sized blackouts occurred worldwide that resulted in serious economic losses. Therefore, the conclusion has been reached that the ability of the current PFC to meet an emergency is poor, and security of power systems should be improved. An alternative to enhance the PFC and thus security is to store excessive amounts of energy during off-peak load periods in efficient energy storage systems for substituting the primary control reserve. In this sense, superconducting magnetic energy storage(SMES) in combination with a static synchronous compensator(STATCOM) is capable of supplying power systems with both active and reactive powers simultaneously and very rapidly, and thus is able to enhance the security dramatically. In this paper, a new concept of PFC based on incorporating a STATCOM-SMES is presented. A complete detailed model is proposed and a new control scheme is designed, comprising an enhanced frequency control scheme, and a fully decoupled current control strategy in d-q coordinates with a novel controller to prevent dc bus capacitors voltage drift/imbalance. The performance of the proposed control schemes is validated through digital simulation carried out using MATLAB/Simulink.

• 조명전기설비학회논문지
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• 제25권7호
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• pp.97-104
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• 2011

This paper presents modeling and control for the emerging IGBT converter-based high-voltage direct-current system (IGBT-HVDC). This paper adds to the representation of the IGBT-HVDC system in the dq-synchronous reference frame and its decoupled control scheme. Additionally, since the IGBT-HVDC is able to actively support the grid due to its capacity to control independently active and reactive power production, a reactive power control scheme is presented in order to regulate/contribute to the voltage at a remote location by taking into account its operational state and limits. The ability of the control scheme is assessed and discussed by means of simulations using ahybrid power system, which consists of a permanent magnetic synchronous-generator (PMSG) based wind turbine, an IGBT-HVDC, and a local load.