• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.6
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• pp.923-934
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• 1987

A flexible one-link robotic manipulator is modelled as a rotating cantilever beam with a hub and tip mass. An active control law is developed with consideration of the distributed flexibility of the arm. Equation of motion is derived by Hamilton's principle and, for modal control, represented as state variable form using Galerkin's mode summation method. Feedback coefficients are chosen to minimize the linear quadratic performance index(PI). To reconstruct the complete state vector from the measurements, an observer is proposed. In order to suppress vibration of the manipulator arm to desirable extent and to obtain accuracy of the positioning, weighting factor of input in PI is adjusted. Spillover effect due to the controller which controls several important modes is examined. Experiment is also performed to validate the theoretical analysis.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.3
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• pp.208-213
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• 2004

This paper is concerned with the theoretical estimation of the single-input single-output(SISO) positive position feedback(PPF) controller and the derivation of the stability conditions for the multi-input multi-output (MIMO) PPF controller. Although the stability condition for the SISO PPF controller was derived in the earlier works, the question regarding the performance estimation of the SISO PPF controller has never been studied theoretically. Hence, the SISO PPF controller for the single degree-of-freedom system was first investigated and then control parameters including gain, the filter frequency, and the damping factor of the PPF controller were analyzed in detail thus providing the design methodology for the SISO PPF controller. In the case of real structure. there are infinite number of natural modes so that some modes are to be controlled by a limited number of actuator and sensor. Based on the theoretical results on the SISO PPF controller, the stability condition for the multi-input multi-output PPF controller was derived when only the few number of modes are to be controlled. The control spillover problem is also discussed in detail.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1352-1355
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• 1996

The control of diamond turning is usually achieved through a laser-interferometer feedback of slide position. If the tool post is rigid and the material removal process is relatively static, then such a non-collocated position feedback control scheme may surface. However, as the accuracy requirement gets tighter and desired surface contours become more complex, the need for a direct tool-tip sensing becomes inevitable. The physical constraints of the machining process prohibit any reasonable implementation of a tool-tip motion measurement. It is proposed that the measured force normal to the face of the workpiece can be filtered through an appropriate admittance transfer function to result in the estimated depth of cut. This can be compared to the desired depth of cut to generate the adjustment control action in addition to position feedback control. In this work, the design methodology on the admittance model-based control with a conventional controller is presented. The recursive least-squares algorithm with forgetting factor is proposed to identify the parameters and update the cutting process in real time. The normal cutting forces are measured to identify the cutting dynamics in the real diamond turning process using the precision dynamometer. Based on the parameter estimation of cutting dynamics and the admittance model-based nanodynamic control scheme, simulation results are shown.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.7 no.6
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• pp.1283-1290
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• 2003

Recently, PWM Buck AC-AC Converter is widely employed in various industrial applications such as voltage and power regulator, electronic transformer, phase shifter and so on. This paper presents static and dynamic modeling and complete characteristic analysis of a PWM Buck AC-AC converter. Firstly, the three phase converter system is modelled by using DQ transformation whereby we can obtain basic characteristic equations such as voltage gain and power factor as well as state equation and transfer function for control. Secondly, based on the analysis, the feedforward-feedback control technique is also proposed to obtain instantaneous duty level change whereby very fast dynamic response is achieved. Finally, the experimental results show the validity of the modeling, analysis and control.

• Journal of Power Electronics
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• v.13 no.5
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• pp.829-840
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• 2013

The modified sinusoidal pulse-width modulation (SPWM) is one of the PWM techniques used in three-phase AC-DC buck converters. The modified SPWM works without the current sensor (the converter is current sensorless), improves production of sinusoidal AC current, enables obtainment of near-unity power factor, and controls output voltage through modulation gain (ranging from 0 to 1). The main problem of the modified SPWM is the huge starting current and voltage (during transient) that results from a large step change from the reference voltage. When the load changes, the output voltage significantly drops (through switching losses and non-ideal converter elements). The single-input single-output (SISO) approach with minor-loop voltage feedback controller presented here overcomes this problem. This approach is created on a theoretical linear model and verified by discrete-model simulation on MATLAB/Simulink. The capability and effectiveness of the SISO approach in compensating start-up current/voltage and in achieving zero steady-state error were tested for transient cases with step-changed load and step-changed reference voltage for linear and non-linear loads. Tests were done to analyze the transient performance against various controller gains. An experiment prototype was also developed for verification.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.9
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• pp.2424-2434
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• 2009

This study, centering on public enterprises, has been conducted from 4 different perspectives such as grasping the effects that the factor precedent of the multi-rater feedback affects on the usefulness of evaluation and the effects that the usefulness of evaluation affects on the organizational achievement, checking on whether there is any discrepancy among the effects affecting on the usefulness of evaluation in accordance with the degree of advance training on the evaluation system, and being what kind of effects the usefulness of valuation that the appraised eventually understand affects on the organizational achievement. As result of the study, the factor precedent that are confidence of the appraisers and the support from CEO reasonably affected on the usefulness of evaluation, but the standard referred to evaluation was not reasonable. It became resultantly clear that the confidence of the appraisers held the effect of control from the verification of whether there is the effect of control between the factor precedent and the usefulness of evaluation in accordance with the degree of advance training. However, it turned out that the standard referred to evaluation and the support from CEO held no effect of control. As result, It was possible to confirm that the usefulness of evaluation in this study affects directly or indirectly to the organizational achievement such as organizational immersion, job satisfaction, self development opportunity, and organizational revitalization as influenced by the prior factors, and the advance training was partially effective on the adjusting effect.

• Journal of Korean Society for Quality Management
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• v.39 no.1
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• pp.45-56
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• 2011

The purpose of this research is to find key factors to invigorate customer satisfaction management from TQM perspective. Consequently, the results show that CS leadership has an effect on team competency, CS evaluation and feedback, and customer information system positively. Team competency and CS evaluation and feedback take positive effects on improving activities for customer focus. Improving activities for customer focus takes positive effects on result of customer satisfaction significantly.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.12
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• pp.1004-1013
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• 2002

A multirate state feedback control (MRSFC) method is proposed for systems sensitive to disturbance and noise based on the multirate estimator design using current estimator. MRSFC updates the controller output slower than the measurement sampling fiequency of system output by a lifting factor $R=T_c/T_s$ The closed-loop MRSFC system is less sensitive to disturbance and noise due to filtering effect than the conventional single-rate control system The multirate estimator gain can be obtained by solving a conventional pole placement problem such that MRSFC has the same spectrum of eigenvalues in the s-plane as the single-rate control. We applied the proposed multirate state feedback controller to a galvanometer servo system Simulation and experimental results show that settling and tracking performances are improved compared with a conventional single-rate pole placement control (PPC).

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.501-503
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• 1996

In this paper, a novel control strategy for PWM current source converter and inverter is proposed, applying a multivariable state feedback control. The PWM converter controls line current to be sinusoidal and make input power factor unity. In addition, the modulation index control of dc link current is carried out, which produces lower loss of switching devices. Since the voltage control of inverter output filter capacitor is performed a decoupling of the d-q current of the induction motor is well retained. With the proposed algorithm, both high dynamic responses and satisfactory static performance can obtained.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.385-387
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• 1996

A novel two stage soft-switching ac-to-dc convener with power factor correction is proposed. The proposed convener provides zero-voltage-switching (ZVS) condition to main switch of boost pre-regulator without auxiliary switch. Comparing to the conventional two stage approach(ZVS-PWM boost rectifier followed by off-line ZVS dc-dc step down converter), the proposed approach is simple and reducing EMI noise problem. A new simple DC-linked energy feedback circuit provides zero-voltage-switching condition to boost pre-regulator without imposing additional voltage and current stresses and loss of PWM capability. Operational principle, analysis, control of the proposed converter together with the simulation results of 1KW prototype are presented.