• Journal of Power Electronics
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• 제18권3호
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• pp.766-777
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• 2018

In this paper, a sliding mode and proportional plus integral (SM-PI) control combined with self-sustained phase shift modulation (SSPSM) for LLC resonant converters is presented. The proposed control scheme improves the transient response while preserving good steady-state performance. An averaged large signal model of an LLC converter with the ZVS modulation technique is developed for the SM control design. The sliding surface is obtained based on the input-output linearization concept. A system identification method is adopted to obtain the transform function of the LLC resonant converter, which is used to design the PI control. In order to reduce the inherent chattering problem in the steady state, the combined SM-PI control strategy is derived with fuzzy control, where the SM control is responsive during the transient state while the PI control prevails in the steady state. The combination of SSPSM and the SM-PI control provides ZVS operation, robustness and a fast transient response against step load variations. Simulation and experimental results validate the theoretical analysis and the attractive features of the proposed scheme.

• 대한기계학회논문집A
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• 제34권10호
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• pp.1359-1366
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• 2010

최근 많은 전자제어기술이 개발되고 있으며 또한 차량에 적용되고 있다. 이러한 기술들 중 throttle-by-wire, brake-by-wire, steer-by-wire 와 같은 X-by-wire 가 대표적이며 이는 기계적으로 연결된 부분이 전기적인 신호나 액추에이터로 대체된 것이다. 본 논문에서는 스쿨존에서의 차량의 속도 제어를 위하여 throttle-by-wire, brake-by-wire 가 고려되었으며 특히 스쿨 존에서는 다른 지역에 비해 사고가능성이 높다. 그 이유는 보행자가 횡단 시에 다수의 운전자들이 규정속도를 지키지 않기 때문이다. 따라서 본 논문에서는 스쿨 존에서 규정속도 내로 주행하도록 throttle-by-wire, brake-by-wire 를 이용하여 차량을 감속 제어하였으며 이를 위하여 양산차량의 엔진과 변속기의 제원을 사용하였다. 둘째, 차량의 감속에 있어서 운전자와 승객이 불쾌감을 느낄 수 있는 급격한 감속을 줄이기 위하여 제안된 3 차 궤적 추종법을 적용시켰으며 궤적 추종을 위하여 퍼지-PID 제어를 사용하였다. 마지막으로 시뮬레이션을 통하여 제안된 차량의 감속 제어 시스템의 성능을 확인하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제12권2호
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• pp.121-130
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• 2012

This paper proposes an intuitive real-time robot control system using human body movement. Recently, it has been developed that motion generation for humanoid robots with reflecting human body movement, which is measured by a motion capture. However, in the existing studies about robot control system by human body movement, the detailed structure information of a robot, for example, degrees of freedom, the range of motion and forms, must be examined in order to calculate inverse kinematics. In this study, we have proposed Associative Motion Generation as humanoid robot motion generation method which does not need the detailed structure information. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis and Jordan recurrent neural network, and the associative motion is generated with the following three steps. First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using nonlinear principal component analysis. Last, the robot generates a new motion through calculation by Jordan recurrent neural network using the associative values. In this paper, we propose a real-time humanoid robot control system based on Associative Motion Generation, that enables user to control motion intuitively by human body movement. Through the task processing and subjective evaluation experiments, we confirmed the effective usability and affective evaluations of the proposed system.

• 한국산학기술학회논문지
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• 제12권2호
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• pp.821-828
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• 2011

본 논문은 자동항로 추적(Track keeping control), 자동조타(Automatic steering), 자동 접이안(Automatic mooring control) 등으로 구성된 자동운항 시스템 중 자동조타장치의 성능 개선 알고리즘 개발에 대해 다루고 있다. 자동조타는 풍력 또는 조력 등의 영향으로부터 선박의 설정 항로와 실제 침로와의 차이를 계산하여 설정된 항로를 유지하며 항해하므로, 조타에 소요되는 선원의 지속적인 항해로 인한 운전 부담을 경감시키고 불필요한 타조작에 의한 항로 이탈을 줄임으로써 항해거리 단축과 연료비용을 절약할 수 있는 시스템이다. 선박의 모델링을 위하여 Nomoto 모델에 근거하여 전달함수를 구하고, 조종성능(Manoeuvirng) 편리성을 고려하여 타각 입력에 대한 선수각 응답으로 표시된 선박의 4자유도만을 고려한 선형 모델을 제안하고 선박 자동조타장치의 최대각과 타각율을 고려하여 Fuzzy제어기를 설계 하였고 PID제어기로 성능을 비교 분석하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 추계학술대회논문집
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• pp.282-286
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• 2000

In this paper, magneto-rheological(MR) damper is studied for vibration control of large infra structures under earthquake. Generally, active control devices need a large control force and a high power supply system to reduce the vibration effectively. Large and miss tuned control force may induce the dangerous situation such that the generated large control force acts to amplify the structural vibration. Recently, to overcome the weaknesses of the active control, the semi-active control method is suggested by many researchers. Semi-active control uses the passive control device of which the characteristics can be modified. Control force of the semi-active device is not generated from the actuator with power supply. It is generated as a dynamic reaction force of the device same as in the passive control case, so the control system is inherently stable and robust. Unlike the case of passive control, control force of semi-active control is adjusted depending on the measured response of the structure, so the vibration can be reduced more effectively against various unknown environmental loads. Magneto-rheological(MR) damper is one of the semi-active devices. Dynamic characteristics of the MR material can be changed by applying the magnetic fields. So the control of MR damper needs only small power. Response time of MR to the input voltage is very short, so the high performance control is possible. MR damper has a high force capacity so it is adequate to the vibration control of large infra structure. Because MR damper has a nonlinear property, normal control method used in active control may not be effective. Clipped optimal control, modified bang-bang control etc. have been suggested to MR damper by many researchers. In this study, sliding mode fuzzy control(SMFC) is applied to MR damper. Genetic algorithm is used for the controller tuning. To verify the applicability of MR damper and suggested algorithm, numerical simulation on the aseismic control is carried out. Simulation model is three-story building structure, which was used in the paper of Dyke, et al. The control performance is compared with clipped optimal control. The present results indicate that the SMFC algorithm can reduce the earthquake-induced vibration very effectively.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 B
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• pp.729-730
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• 2006

The paper is proposed maximum torque control of SynRM drive using adaptive fuzzy neural network(A-FNN) controller and artificial neural network(ANN). For each control mode, a condition that determines the optimal d-axis current $i_d$ for maximum torque operation is derived. The proposed control algorithm is applied to SynRM drive system controlled A-FNN and ANN controller, the operating characteristics controlled by maximum torque control are examined in detail. Also, this paper is proposed the analysis results to verify the effectiveness of the A-FNN and ANN controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 B
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• pp.731-732
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• 2006

The paper is proposed maximum torque control of IPMSM drive using adaptive learning mechanism-fuzzy neural network (ALM-FNN) and artificial neural network(ANN). For each control mode, a condition that determines the optimal d-axis current $i_d$ for maximum torque operation is derived. The proposed control algorithm is applied to IPMSM drive system controlled ALM-FNN and ANN, the operating characteristics controlled by maximum torque control are examined in detail. Also, this paper is proposed the analysis results to verify the effectiveness of the ALM-FNN and ANN.

• 대한기계학회논문집A
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• 제25권10호
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• pp.1678-1683
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• 2001

The mobility of tracked vehicles is mainly influenced by the interaction between tracks and soil, so that the characteristics of their interactions are quite important fur the tracked vehicle study. In particular, the track tension is closely related to the maneuverability of tracked vehicles and the durability of tracks and suspension systems. In order to minimize the excessive load on the tracks and to prevent the peal-off of tracks from the road-wheels, the Dynamic Track Tensioning System (DTTS) which maintains the optimum track tension throughout the maneuver is required. It consists of track tension monitoring system, track tension controller and hydraulic system. In this paper, a dynamic track tensioning system is developed for tracked vehicles which are subject to various maneuvering tasks. The track tension is estimated based on the idler assembly model. Using the monitored track tension and con sidering the highly nonlinear hydraulic units, fuzzy logic controllers are designed in order to control the track tension. The track tensioning performance of the proposed DTTS is verified through the simulation of the Multi -body Dynamics tool.

• 한국항행학회논문지
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• 제16권4호
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• pp.586-592
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• 2012

비선형 시스템을 제어하는 효과적인 방법으로 신경망과 연동된 퍼지구조를 적용한 ANFIS 제어기를 이용되고 있다. 전통적인 ANFIS에서는 다차원의 입력에도 불구하고 단일출력에 대한 공정을 모델링하고 제어 하는데 사용된다. 멤버쉽 함수의 파라미터는 최소자승예측과 역전파 알고리즘을 이용하여 조정된다. 이동로봇의 경우에는 좌측과 우측의 바퀴를 각각 구동할 필요가 있다. 본 논문에서는 이동로봇의 궤적을 추적하기 위하여 2-입력 2-출력을 가진 ANFIS제어기를 적용한 제어시스템 구조를 제안하였다. 시뮬레이션을 통하여 제안된 구조가 이동로봇에 대한 가능한 제어기임을 확인할 수 있었다.

• 한국지능시스템학회논문지
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• 제15권4호
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• pp.412-417
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• 2005

오늘날 인터넷을 기반으로 하는 원격 제어 기술이 급속히 발달하고 있다. 그러나 이러한 원거리 네트워크 기반 제어는 데이터를 전송함에 있어서 지연이 불가피하며, 또한 이 지연이 일정하지 않은 문제점을 지니고 있다. 이러한 네트워크 지연은 시스템의 안정성이나 정확도에 영향을 미친다. 본 논문에서는 네트워크상의 데이터 전송 지연을 고려한 이동 로봇의 원격 운용을 위해 TSK (Takagi-Sugeno-Kang) 퍼지 시스템을 이용하여 전송 지연의 확률 분포 함수와 네트워크 모델을 구하고 이를 전송 지연 예측 알고리즘에 적용하였다. 그리고 컴퓨터 시뮬레이션으로부터 제안된 알고리즘의 실효성을 검증하고, 기존의 예측 알고리즘과의 비교분석을 통하여 그 성능을 평가하였다.