• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1972-1977
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• 2005

In this work, an inverse dynamic control method is developed to enhance tracking performance of industrial robots, which effectively deal with the nonlinear dynamic interferential forces. In general, the DFF (Dynamic Feed-Forward) controller and the CTM (Computed-Torque Method) controller are used for dynamic control for industrial robots. We study on the practical issues for implementing these inverse dynamic controllers via simulations and experiments. We develop the dynamic models in two different ways. One is a model designed through Newton-Euler method for real time computation and the other is a model designed through SimMechanics for evaluating the developed controller via simulations. We evaluate the nominal performance and robustness of the controller via simulations and experiments using serial 4-DOF HyRoHILS (Hyundai Robot Hardware-In-the-Loop Simulation) system. The results show that the inverse dynamic controller is effective and practically useful for a real control structure.

• 전기학회논문지
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• 제64권5호
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• pp.708-717
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• 2015

This paper proposes a new reduction scheme of circulating current when two units of BESS (Battery Energy Storage System) are operated in parallel with conventional droop control. In case of using conventional droop, the terminal voltage of each BESS are not equal due to the unequal line impedance, which causes the circulating current. The operation performance of BESS is critically dependant on the circulating current because it increases system losses which causes the increasement of required system rating. This paper introduces a new reduction scheme of circulating current in which the terminal voltage difference of each BESS is compensated by adding feed-forward path of line voltage drop to the droop control. The feasibility of proposed scheme was first verified by computer simulations with PSCAD/EMTDC software. After then a hardware prototype with 5kW rating was built in the lab and many experiments were carried out. The experimental results were compared with the simulation results to confirm the feasibility of proposed scheme. Two parallel operating BESS with proposed scheme shows more accurate performance to suppress the circulating current than those with the conventional droop control.

• 인터넷정보학회논문지
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• 제20권5호
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• pp.95-104
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• 2019

사물인터넷 서비스를 위해 다양한 종류의 디바이스가 사용되고 있으며, 사물인터넷 디바이스들은 주로 비면허 대역의 주파수를 사용하는 통신기술을 활용하고 있다. 비면허 대역의 통신기술에는 몇 가지가 있지만, 현재 WiFi가 가장 대표적으로 사용된다. 사물인터넷 서비스를 위해 사용되는 디바이스는 제한된 기능을 가진 디바이스부터 스마트폰까지 컴퓨팅 리소스가 다양하고, WiFi 와 같은 무선 네트워크를 통해 서비스를 제공한다. 대부분의 사물인터넷 장치는 네트워크 제어를 위한 복잡한 연산을 할 수 없기 때문에 신호세기에 의존하여 WiFi 액세스 포인트를 선정하고 있다. 이는 사물인터넷 서비스 효율을 떨어뜨리는 원인으로 작용한다. 따라서, 본 논문에서는 액세스 포인트를 통해 사물이터넷 디바이스의 WiFi 연결을 제어할 수 있는 지능형 액세스 포인트 시스템을 구현한다. 사물인터넷 디바이스에서 측정된 네트워크 정보를 통해 액세스 포인트에서 피드 포워드 신경망 (feed forward neural network) 알고리즘을 사용하여 학습을 하고, 네트워크 연결 상태를 예측하여 디바이스의 WiFi연결을 제어한다. 이렇게 함으로써 사물인터넷 디바이스의 서비스 효율을 높일 수 있다.

• 한국전자통신학회논문지
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• 제7권4호
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• pp.839-848
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• 2012

본 논문에서는 외란토크를 효과적으로 억제할 수 있는 AC 서보모터의 견실제어 방법을 제안한다. 제안된 제어기는 플랜트 모델에 기초한 피드포워드제어기와 안정화 피드백제어기로 구성된다. 피드포워드제어기는 공칭(nominal) 플랜트의 출력이 기준 속도명령을 정확히 추적하도록 설계되며 피드백제어기는 전체 폐루프시스템을 안정화시키는 역할을 한다. 피드백제어기는 임의로 선택될 수 있는 자유함수를 포함하는데 이 자유함수는 외란토크의 영향을 억제하고 제어기가 모델오차에 견실하게(robust) 동작되도록 선택될 수 있다. 컴퓨터 시뮬레이션을 통하여 제안된 제어방식이 기존의 제어방식들에 비해 우수한 제어성능을 가짐을 입증한다.

• 한국전문물리치료학회지
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• 제14권2호
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• pp.21-28
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• 2007

The purpose of this study was to compare the onset times of muscle activities and the order of muscle firing in erector spinae, multifidus, rectus abdominis and biceps brachii during perturbation between subjects with and without work-related chronic low back pain (LBP). Twenty-nine subjects, 14 with and 15 without LBP, participated in this study. The muscle responses were measured by surface EMG (electromyography) during perturbation in eye opened and eye closed conditions. The EMG onset times of the erector spinae, multifidus, rectus abdominis and biceps brachii were similar between groups in eye closed condition. But the onset times of the erector spinae, multifidus, rectus abdominis were significantly delayed in subjects with LBP in eye opened condition. The results provide an evidence for impaired feed-forward control of the trunk muscles in subjects with LBP. Further studies are needed to identify whether the impaired feed-forward control of the trunk muscles is the contributing factor to LBP.

• Journal of Electrical Engineering and Technology
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• 제12권6호
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• pp.2227-2236
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• 2017

In order to solve the neutral-point voltage fluctuation problem of three-phase three-level T-type inverters (TPTLTIs), the unbalance characteristics of capacitor voltages under different switching states and the mechanism of neutral-point voltage fluctuation are revealed. Based on the mathematical model of a TPTLTI, a feed-forward voltage balancing control strategy of DC-link capacitor voltages error is proposed. The strategy generates a DC bias voltage using a capacitor voltage loop with a proportional integral (PI) controller. The proposed strategy can suppress the neutral-point voltage fluctuation effectively and improve the quality of output currents. The correctness of the theoretical analysis is verified through simulations. An experimental prototype of a TPTLTI based on Digital Signal Processor (DSP) is built. The feasibility and effectiveness of the proposed strategy is verified through experiment. The results from simulations and experiment match very well.

• Journal of Electrical Engineering and Technology
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• 제10권5호
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• pp.2062-2069
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• 2015

In the series hybrid active power filter (SHAPF) with magnetic flux compensation (MFC), the system current oscillate in the experimental results when adding the same phase harmonic current command in current control block. This condition endangers the security of the SHAPF. Taking the digit period average arithmetic as example, this paper explains the inter-harmonics current oscillation in the experiment. The conclusion is that the SHAPF is unstable to the inter-harmonics current in theory. Limited by the capacity of the inverter, the system current and the inverter output current do not increase to infinite. At last, some methods are proposed to solve this problem. From the practical viewpoint, the voltage feed-forward control is easy to achieve. It can suppress the current oscillation problems, and also improve the filtering effect. The feasibility of the methods is validated by both the emulation and experiment results.

• 한국소음진동공학회논문집
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• 제24권1호
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• pp.54-61
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• 2014

This paper proposes a driver supportive device with haptic cue function which can transmit optimal gear shifting timing to a driver without requiring the driver's visual attention. Its performance is evaluated under vehicle model considering automotive engine, transmission and vehicle body. In order to achieve this goal, a torque feedback device is devised and manufactured by adopting the MR (magnetorheological) fluid and clutch mechanism. The manufactured MR clutch is then integrated with the accelerator pedal to construct the proposed haptic cue device. A virtual vehicle emulating a four-cylinder four-stroke engine, manual transmission system of a passenger vehicle and vehicle body is constructed and communicated with the manufactured haptic cue device. Control performances including torque tracking and fuel efficiency are experimentally evaluated via a simple feed-forward control algorithm.

• Journal of Advanced Marine Engineering and Technology
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• 제21권2호
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• pp.186-194
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• 1997

In this thesis, a new speed control algorithm based on the load torque observer theory is pro¬posed for the high performance speed control of a voltage source inverter to drive a 3 - phase induction motor. The proposed system becomes robust against disturbances using a feed -- for¬ward control of the load torque estimated at load torque observer. Computer simulation and experimental works using the proposed control confirm that transient response for the varia¬tion ofload torque becomes improved, compared with the conventional PI control method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 B
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• pp.992-994
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• 1992

Diode rectifier has many low order harmonics in line currents. So, power factor of input side is relatively low. Recently, PWM conveters have been actively studied in order to reduce the harmonics. This paper describes a voltage source PWM rectifier with feed-forward compensation of instantaneous load power. By adding feed-forward compensation to dc link voltage control loop, the fluctuation of dc link voltage at a sudden load change can be considerably suppressed. Simulation based on analytical approach Was performed and the results of it showed a good agreement with theory.