• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.5
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• pp.1011-1016
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• 2011

This paper presents a robust current controller for a surface-mounted permanent magnet synchronous motor(SPMSM) by using a PI observer. The decoupling PI(proportional-integral) controller combined with an additional feed-forward compensation has been used for the current controller. The classical feed-forward compensation using velocity information and system parameters is not expected to achieve a robust performance against parameter uncertainties. This paper has adopted a PI observer for the feed-forward compensation to cope with parameter uncertainties without using velocity information. A simple PI observer has been designed to compensate the disturbances that represent velocity coupled terms and parameter uncertainties. Experimental results as well as computer simulations with 630W SPMSM confirm that the proposed approach can deal with the effects of the disturbance and improve the control performance.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.5
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• pp.65-71
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• 1998

This paper presents in-process compensation methodology to eliminate cutter runout and improve machined surface quality. The cutter runout compensation system consists of the micro-positioning mechanism with the PZT (piezo-electric translator) which is embeded in the sliding table to manipulate the radial depth of cut in real time. For the implementation of cutter runout compensation methodology. cutting force adaptive control was proposed in the angle domain based upon PI (proportional-integral) control strategy to eliminate chip-load change in end milling process. Micro-positioning control due to adaptive acuation force response improves the machined surface quality by compensation or elimination of cutter runout induced cutting force variation. This results will provide lots of information to build-up the precision machining technology.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.5
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• pp.13-20
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• 2010

We proposed a new technique to perform fast video stabilization using integral image in this article. In the proposed technique, it evaluate local and global motion by the block matching using the generated integral image for each frame and compensate the motion like jitter. We made the various experimental jitter patterns to evaluate the effectiveness of the proposed technique and evaluated stabilization capability and execution time with the existing ones. Through the experiment, we found that the execution time of proposed technique was faster than that of existing techniques and the compensation of jitter was well done.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.294-299
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• 2006

This paper studies a visual feedback control scheme for robot manipulators with camera-in-hand configurations. We design a robust controller that compensates for bounded parametric uncertainties of robot mechanical dynamics. In order to reduce steady state tracking error of the robot arms due to uncertain dynamics, integral action is included in the control input. Using the Lyapunov stability criterion, the uniform ultimate boundedness of the tracking error is proved. Simulation and experimental results with a 2-1ink robot manipulator illustrate the robustness and effectiveness of the proposed control algorithm.

• Journal of Power System Engineering
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• v.4 no.3
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• pp.62-71
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• 2000

A mathematical modeling for a magnetic levitation system is proposed using the Taylor series expansion of differential function for obtaining linearity. It is confirmed that this kind of linear approximation method can be used to the modeling of a magnetic levitation system. The two-degree-of-freedom optimal servo system for a constant reference signal is proposed using the LQ optimization technique. An additional state feedback is introduced at the output of the integrator to cancel the integral action for reference signal if there is no modeling error of the plant and no disturbance input to the plant. When the modeling error or the disturbance input exists, the integral effect appears. The system has a free parameter which can b used to tune the effect of the integral compensation.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1337-1338
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• 2015

In this paper, a new control technique using WIPDC(Weighted Integral Parallel Distributed Compensation) and ISMC(Integral Sliding Mode Control) is proposed for high performance and robust trajectory tracking control of a wheeled mobile robot. The WIPDC reduces the steady-state error by adding a weighted integral controller to the PDC. So, the trajectory tracking control using the WIPDC can obtain more accurate control performance than the PDC. And the ISMC based control input gives the mobile robot to preserve the system dynamics controlled by the WIPDC control input in spite of external disturbances. Therefore, the proposed control method shows a robust and precise trajectory tracking performance.

• Ocean Systems Engineering
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• v.10 no.4
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• pp.373-397
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• 2020

Heave compensation is a vital part of various marine and offshore operations. It is used in various applications, including the transfer of cargo between two vessels in the open ocean, installation of topsides of an offshore structure, offshore drilling and for surveillance, reconnaissance and monitoring. These applications typically involve a load suspended from a hydraulically powered winch that is connected to a vessel that is undergoing dynamic motion in the ocean environment. The goal in these applications is to design a winch controller to keep the load at a regulated height by rejecting the net heave motion of the winch arising from ship motions at sea. In this study, we analyze and compare the performance of various control algorithms in stabilizing a suspended load while the vessel is subjected to changing sea conditions. The KCS container ship is chosen as the vessel undergoing dynamic motion in the ocean. The negative of the net heave motion at the winch is provided as a reference signal to track. Various control strategies like Proportional-Derivative (PD) Control, Model Predictive Control (MPC), Linear Quadratic Integral Control (LQI), and Sliding Mode Control (SMC) are implemented and tuned for effective heave compensation. The performance of the controllers is compared with respect to heave compensation, disturbance rejection and noise attenuation.

• Journal of Power Electronics
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• v.14 no.1
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• pp.82-91
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• 2014

This paper proposes a compensation algorithm for the analog rotor position errors caused by nonideal sinusoidal encoder output signals including offset and gain errors. In order to achieve a much higher resolution, position sensors such as resolvers or incremental encoders can be replaced by sinusoidal encoders. In practice, however, the periodic ripples related to the analog rotor position are generated by the offset and gain errors between the sine and cosine output signals of sinusoidal encoders. In this paper, the effects of offset and gain errors are easily analyzed by applying the concept of a rotating coordinate system based on the dq transformation method. The synchronous d-axis signal component is used directly to detect the amplitude of the offset and gain errors for the proposed compensator. As a result, the offset and gain errors can be well corrected by three integrators located on the synchronous d-axis component. In addition, the proposed algorithm does not require any additional hardware and can be easily implemented by a simple integral operation. The effectiveness of the proposed algorithm is verified through several experimental results.

• Journal of Biomedical Engineering Research
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• v.28 no.4
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• pp.449-454
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• 2007

An electrohydraulic (EH) pump-driven closed-loop blood pressure regulatory system was developed based on flow-mediated vascular occlusion using the vascular occlusive cuff technique. It is very useful for investigating blood pressure-dependant physiological variability, in particular, that could identify the principal mediators of renal autoregulation, such as tubuloglomerular feedback (TGF) and myogenic (MYO), during blood pressure regulation. To address this issue, renal perfusion pressure (RPP) should be well regulated under various experimental conditions. In this paper, we designed a new EH pump-driven RPP regulatory system capable of implementing precise and rapid RPP regulation. A closed-loop servo-controlwas developed with an optimal proportional plus integral (PI) compensation using the dynamic feedback RPP signal from animals. An in vivo performance was evaluated in terms of flow-mediated RPP occlusion, maintenance, and release responses. Step change to 80 mmHg reference from normal RPP revealed steady state error of ${\pm}3%$ during the RPP regulatory period after PI action. We obtained rapid RPP release time of approximately 300 ms. It is concluded that the proposed EH RPP regulatory system could be utilized in in vivo performance to study various pressure-flow relationships in diverse fields of physiology, and in particular, in renal autoregulation mechanisms.

• Journal of Electrical Engineering and Technology
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• v.5 no.3
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• pp.451-461
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• 2010

Electric vehicles (EVs) require fast torque response and high drive efficiency. This paper describes a control scheme of fuzzy direct torque control of permanent magnet synchronous motor for EVs. This control strategy is extensively used in EV application. With direct torque control (DTC), the electromagnetic torque and stator flux can be estimated using the measured stator voltages and currents. The estimation depends on motor parameters, except for the stator resistance. The variation of stator resistance due to changes in temperature or frequency downgrades the performance of DTC, which is controlled by introducing errors in the estimated flux linkage vector and the electromagnetic torque. Thus, compensation for the effect of stator resistance variation becomes necessary. This work proposes the estimation of the stator resistance and its compensation using a proportional-integral estimation method. An electronic differential has been also used, which has the advantage of replacing loose, heavy, and inefficient mechanical transmission and mechanical differential with a more efficient, light, and small electric motors that are directly coupled to the wheels through a single gear or an in-wheel motor.