• Proceedings of the KIEE Conference
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• 2000.11d
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• pp.765-768
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• 2000

Linearization of the biped dynamic equations and design of linear controller for the linearized equations are studied in this paper. The biped robot with inverted pendulum type trunk, used to stabilize the dynamic balancing of the biped robot during dynamic walking period, is modelled with 14 DOF and simulated. Despite of well defined linear control theories so far, the linear control methods was limited to the applications for a walking robot, because they have been inherently strong nonlinear properties, such as a modeling parameter uncertainties, external forces as noise, inertial and Coriolis terms by three dimensional modeling and so on. To linearize the nonlinear equations of motion of biped robot on MIMO and time varying linear equations of motion, 1st order Taylor series is used to formulate the linear equation. And a 2nd order numerical perturbation method Is used to approximate partial differential equations. Using the linearized equations of motion, a linear controller is designed by pole placement method with feed forward compensation. Using the obtained linearized equations and linear controller, the continuous walking simulation is performed.

• Journal of Power Electronics
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• v.8 no.4
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• pp.354-362
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• 2008

This paper presents neural load torque compensation method which is composed of a deadbeat load torque observer and gains compensation by a parameter estimator. As a result, the response of the PMSM (permanent magnet synchronous motor) obtains better precision position control. To reduce the noise effect, the post-filter is implemented by a MA (moving average) process. The parameter compensator with an RLSM (recursive least square method) parameter estimator is adopted to increase the performance of the load torque observer and main controller. The parameter estimator is combined with a high performance neural load torque observer to resolve problems. The neural network is trained in online phases and it is composed by a feed forward recall and error back-propagation training. During normal operation, the input-output response is sampled and the weighting value is trained multi-times by the error back-propagation method at each sample period to accommodate the possible variations in the parameters or load torque. As a result, the proposed control system has a robust and precise system against load torque and parameter variation. Stability and usefulness are verified by computer simulation and experiment.

• Proceedings of the KIPE Conference
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• 2012.07a
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• pp.359-360
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• 2012

This paper proposes a scheme of auto-tuning fuzzy PI controller and input voltage feed forward to control the output voltage of a three-phase Z-source inverter (ZSI). The proposed scheme adjusts the ts (Kp and Ki) in real time in order to find the most suitable Kp and Ki for PI controller and to simplify the controller design. The proposed scheme is verified the validity by experiment and co-simulation in PSIM and MATLAB/SIMULINK both load step change and input DC voltage variation in Z-source inverter, and has compared with the conventional PID control scheme. The experiment results involve of three-phase output voltage, Z-network capacitor voltage and dc-link peak voltage value. By those analysis and comparison, the availability of the proposed method in output voltage transient response quality improving has been verified. Compared with conventional PID method, the proposed method showed a more effective and robust control performance for coping with the severe disturbance conditions.

• East Asian Journal of Business Economics (EAJBE)
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• v.1 no.1
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• pp.17-21
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• 2013

Purpose: Forecasting of petroleum consumption is useful in planning and management of petroleum production and control of air pollution. Research Design, Data and Methodology: ARMA models, sometimes called Box-Jenkins models after the iterative Box-Jenkins methodology usually used to estimate them, are typically applied to auto correlated time series data. Results: Petroleum consumption modeling plays a role key in big urban air pollution planning and management. In this study three models as, MLFF, MLFF with GARCH (1,1) and ARMA(1,1), have been investigated to model the petroleum consumption forecasts. Certain standard statistical parameters were used to evaluate the performance of the models developed in this study. Based upon the results obtained in this study and the consequent comparative analysis, it has been found that the MLFF with GARCH (1,1) have better forecasting results.. Conclusions: Survey of data reveals that deposit of government policies in recent yeas, petroleum consumption rises in Tehran and unfortunately more petroleum use causes to air pollution and bad environmental problems.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.3
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• pp.244-249
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• 2008

In this paper, the stable region for missile guidance loop employing an integrated proportional navigation guidance law is derived. The missile guidance loop is formulated as a closed-loop control system consisting of a linear time-invariant feed-forward block and a time-varying feedback gain. By applying the circle criterion to the system, a bound for the time of flight up to which stability can be assured is established as functions of flight time. Less conservative results, as compared to the result by Popov criterion, are obtained.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.281-286
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• 2005

The main objective of the research work presented in this article is to present a systematic approach for designing a multilayer feed-forward artificial neural network based self-tuning power system stabilizer (ST-ANNPSS). In order to suggest an approach for selecting the number of neurons in the hidden layer, the dynamic performance of the system with ST-ANNPSS is studied and hence compared with that of conventional PSS. Finally the effect of variation of loading condition and equivalent reactance, Xe is investigated on dynamic performance of the system with ST-ANNPSS. Investigations reveal that ANN with one hidden layer comprising nine neurons is adequate and sufficient for ST-ANNPSS. Studies show that the dynamic performance of STANNPSS is quite superior to that of conventional PSS for the loading condition different from the nominal. Also it is revealed that the performance of ST-ANNPSS is quite robust to a wide variation in loading condition.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.62-67
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• 1998

An arc welding machine using single switched PFC converter is presented in this paper. First, the basic operation and principle is reviewed. Controller design is intended to force voltage ripple to minimize, and dynamic response to enhance, Feed-forward strategy for arc welding machine is developed, and that is verified by simulation. The improved power factor characteristics of arc welding machine known as low power factor system with nonlinear property, are shown and evaluated compared to conventional one.

• Proceedings of the KIEE Conference
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• 2002.04a
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• pp.112-115
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• 2002

Previous AC/DC PFC Boost Converter perceives feed forward signal of input and feedback signal of output for average current-mode control. Previous Boost Converter, the quantity of input current will be decreased by the decrease of output current in light load, and also power factor comes to be decreased. Also the efficiency of converter will be decreased by the decrease of power factor. The proposed converter presents the good PFC(Power Factor Correction), low line current hormonic distortions and tight output voltage regulations using non-dissipative snubber. The proposed converter also has a high efficiency by non-dissipative snubber circuit. To show the superiority of this converter is verified through the experiment with a 640W, 100kHz prototype converter.

• Proceedings of the KIEE Conference
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• 1999.11b
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• pp.236-238
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• 1999

This paper presents a model and analysis results of 3 phase utility interactive photovoltaic power generation system. The control system is composed of feed forward, feedback and PID system. The voltage source inverter system provides sinusoidal PWM at current for the loads of utility system. A phase to ground fault and 3 phase fault are analyzed, and the results are discussed.

• Journal of Biosystems Engineering
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• v.16 no.3
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• pp.239-247
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• 1991

This study was conducted to investigate the feasbility of continuously variable V-belt transmission(CVVT) as automatic power transmission system of combine harvesters. An experimental set-up for testing the performance of CVVT and the automatic transmission system was designed and used to analyze the power transmission characteristics of CVVT. The transmission efficiency of CVVT was increased logarithmically with increase of the load of driven shaft, but was not affected by the speed ratios of transmission. More than 80% of transmission efficiency was obtained in the 25N-m load and more of driven-shaft, and the maximum efficiency was 88~91%. When rapid speed change of the CVVT was attempted, the speed of driven shaft was stabilized within about 0.4 seconds after shift operation in both cases of increasing and decreasing of the speed.