• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2291-2294
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• 2003

In this paper, analysis and control design of ac-dc converter, normally nonlinear time-varying system, using sliding mode controller to achieve fast output voltage response, disturbance rejection and robust system in the presence of load variation are demonstrated. The objective of this method is to develop methodology for output voltage to be constant and input current sinusoidal that results in nearly unity power factor, respectively. In addition the converter can be also bidirectional power flow. Simulation results using Matlab/Simulink show the effectiveness of sliding mode control system compared with linear feedback controller to guarantee enhanced PF>0.98, THD<5%, and ripple output voltage is less than 1% at the maximum output power.

• Journal of Power Electronics
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• 제3권3호
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• pp.151-158
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• 2003

Three-phase four-wire electrical distribution systems are widely employed in manufacturing plants, commercial and residential buildings Due to the nonlinear loads connected to the distribution system, the neutral conductor carries excessive harmonic currents even under balanced loading since the triplen harmonics in phase currents do not cancel each other This may result in wiring failure of the neutral conductor and overloading of the distribution transformer In response to these concerns, a cost-effective neutral current harmonic suppressor system has been proposed. This paper proposes an improved control method for the harmonic suppressor system under unbalanced load conditions The proposed control method compensates for only the harmonic components in the neutral conductor, and the zero-sequence fundamental component due to unbalanced loading is prevented from flowing through the harmonic suppressor system This remedies overloading and power loss of the system The experimental results on a prototype validate the proposed control approach.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.1262-1265
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• 1993

The paper discusses the problem of controlling systems with a very high number of input variables effectively by fuzzy If . . . then rules. The basic idea is the partition of the state space into domains, which step can be done even iteratively several times, and every domain has its own sub rule base referring to a considerably lower number of variables than the original space. In this manner the number of necessary rules is drastically reduced and time complexity of the control algorithm remains acceptable.

• 제어로봇시스템학회논문지
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• 제22권2호
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• pp.89-96
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• 2016

This paper describes the design of a force measurement and communication system for the force measuring system in industrial robots. The force measurement and communication system is composed of a multi-axis force sensor and a controller for measuring the forces (x-direction force, y-direction force and z-direction force) and sending the measured forces to the robot's controller (PLC: Programmable Logic Controller). In this paper, the force measurement and communication system was designed and fabricated by using a DSP (Digital Signal Processor). An environment test and a grinding and deburring test using an industrial robot with the force measurement and communication system with three-axis force sensor were carried out to characterize the system. The tests showed that the system could safely measure the forces from the three-axis force sensor and send the measured forces to the industrial robot's controller while the grinding and deburring test was performed. Thus, it is thought that the fabricated force measurement and communication system could be used for controlling the force for an industrial robot's grinding and deburring.

• 한국정밀공학회지
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• 제30권11호
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• pp.1153-1160
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• 2013

SMISMO valve configuration is now starting to draw attention of the researchers of the construction equipment industry to increase the fuel efficiency of their equipment like excavators and wheel-loaders. An open-loop control strategy for grading operation of hydraulic excavator systems using SMISMO valve configuration is investigated in this paper. Tabor's algorithm for 1 d.o.f. SMISMO system under the assumption of quasi-static operation is revealed as not adequate for multi d.o.f. system with large moment of inertia even though the motion of the system is slow. New parameters are proposed in this paper. It modifies Tabor's open-loop control strategy for the grading operation of hydraulic excavators using SMISMO valve configuration. A simulation-based parameter tuning method is also proposed. It uses GA (Genetic Algorithm) to find the best parameter values. Simulation study for a practical hydraulic excavator shows the validity of the proposed open-loop control strategy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.892-897
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• 1987

The ability of a robotic manipulator to recognize the shape of an object by feeling its band around the object is useful in many applications. Two-dimensional object contour tracking by force feedback is described. The system consists of IBM PC/AT, PUMA 560 manipulator, PUMA controller and a tip sensor. Position control is accomplished by using VAL command and the unmodified PUMA controller. A contour tracking algorithm is developed and tested on three different types of objects. The experimental results show that the objects' shapes can be successfully identified.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1573-1576
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• 2004

• 대한전기학회논문지:전력기술부문A
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• 제48권6호
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• pp.760-772
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• 1999

The CAN is a serial communication protocol for distributed real-time control and automation systems. Data generated from field devices in the distributed control of power plant are classified into three categories: real-time event data, real-time control data, non-real-time data. These data share a CAN medium. If the traffic of the CAN protocol is not efficiently controlled, performance requirements of the power plant system could not be satisfied. This paper proposes a bandwidth allocation algorithm that can be applicable to the CAN protocol. The bandwidth allocation algorithm not only satisfies the performance requirements of the real-time systems in the power plant but also fully utilizes the bandwidth of CAN. The bandwidth allocation algorithm introduced in this paper is validated using the integrated discrete-event/continuous-time simulation model which comprises the CAN network and distributed control system of power plant.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.412-419
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• 1993

The transient responses of a linear system having undesired disturbances are dominantly governed by the system's left eigenstructure(eigenvalues/left eigenvectors). In control system design problem of altering the transient response of the system, both the controllability and the disturbance suppressibility, should be considered simultaneously to obtain a robust, effective controller. The controllability of the system may be degraded if the left eigenstructure is chosen to suppress the disturbance, or vice versa. In this paper, first, proposed are a modal disturbance suppressibility measure and an improved version of the modal controllability measure suggested by Hamdan and Nayfeh. Second, a simple and general left eigenstructure assignment scheme, considering both the proposed modal disturbance suppressibility measure and the improved version of modal controllability measure, is suggested. When the previous works are applied to assign the left eigenvectors may differ from the desired ones. But the proposed left eigenstructure assignment scheme makes it possible to achieve the desired colsed-loop eigenvalues exactly, provided the desired left eigenvectors reside in the achievable subspace. In case the desired left eigenvectors do not reside in the achievable subspace, the closed-loop eigenvalues are achieved exactly and the left eigenvectors are assigned to the best possible set of eigenvectors in the least square sense. Finally, a numerical example is included to confirm and demonstrate the usefulness of our propositions and to illustrate the proposed design scheme.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.712-715
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• 1997

In image jacobian based visual servoing, generally, inverse jacobian should be calculated by complicated coordinate transformations. These are required excessive computation and the singularity of the image jacobian should be considered. This paper presents a visual servoing to control the pose of the robotic manipulator for tracking and grasping 3-D moving object whose pose and motion parameters are unknown. Because the object is in motion tracking and grasping must be done on-line and the controller must have continuous learning ability. In order to estimate parameters of a moving object we use the kalman filter. And for tracking and grasping a moving object we use a fuzzy inference based reinforcement learning algorithm of dynamic recurrent neural networks. Computer simulation results are presented to demonstrate the performance of this visual servoing