• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2648-2653
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• 2003

This paper describes the development of a 3-DOF laparoscopic assistant robot system with motor-controlled bending and zooming mechanisms using the voice command motion control and auto-tracking control. The system is designed with two major criteria: safety and adaptability. To satisfy the safety criteria we designed the robot with optimized range of motion. For adaptability, the robot is designed with compact size to minimize interference with the staffs in the operating room. The required external motions were replaced by the bending mechanism within the abdomen using flexible laparoscope. The zooming of the robot is achieved through in and out motion at the port where the laparoscope is inserted. The robot is attachable to the bedside using a conventional laparoscope holder with multiple DOF joints and is compact enough for hand-carry. The voice-controlled command input and auto-tracking control is expected to enhance the overall performance of the system while reducing the control load imposed on the surgeon during a laparoscopic surgery. The proposed system is expected to have sufficient safety features and an easy-to-use interface to enhance the overall performance of current laparoscopy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.389-394
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• 2004

A Fuzzy Logic Sliding Mode Control or FLSMC for the uninterruptible power system (UPS) is presented, which is tracking a sinusoidal ac voltage with specified frequency and amplitude. The FLSMC algorithm combines feedforward strategy with the Variable Structure Control (VSC) or Sliding Mode Control (SMC) and fuzzy logic control. The control function is derived to guarantee the existence of a sliding mode. FLSMC has an advantage that the stability of FLSMC can be proved easily in terms of VSC. Furthermore, the rules of the proposed FLSMC are independent of the number of system state variables because the input of the suggested controller is fuzzy quantity sliding surface value. Hence the rules of the proposed FLSMC can be reduced. The simulation results illustrate that the purposed approach gives a significant improvement on the tracking performances. It has the small overshoot in the transient and the smaller chattering in the steady state than the conventional VSC. Moreover, its can achieve the requirements of robustness and can supply a high-quality voltage power source in the presence of plant parameter variations, external load disturbances and nonlinear dynamic interactions.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.179-181
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• 2003

Conventional P/PI speed controller of today's servo drives should be manually tuned the controller switching set-point by trial-and-errors, which may translate the drive system down-time and loss of productivity. The adjustable drive performance is heavily dependent on the qualify of the expert knowledge and becomes inadequate in applications where the operating conditions change in a wide range, i.e., tracking command, cceleration/deceleration time, and load disturbances. In this paper, the demands on simple controls/setup are discussed for industry servo drives. Analyzing the frequency content of motor torque command, P/PI control mode switching is automatically peformed with some prior knowledge of the mechanical dynamics. The dynamic performance of the proposed scheme assures a desired tracking response curve with minimal oscillation and settling time over the whole operating conditions. For comprehensive comparison of traditional P/PI control scheme, extensive test is carried out on actual servo system.

• 조명전기설비학회논문지
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• 제23권1호
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• pp.41-48
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• 2009

본 논문은 DC 전동기에 공급되는 PV 시스템의 최대전력점추적에 대한 신경회로망 제어기를 제시한다. 다양한 일사량은 PV 시스템의 MPPT에 대하여 가장 중요한 요소이다. 일사량은 비선형적, 비주기적이고 복잡하다. 신경회로망은 복잡한 수학적 문제를 해결하는데 광범위하게 사용되고 있다. 제안한 태양광 발전시스템은 신경회로망 제어기, DC-DC 컨버터, DC전동기, 부하로 구성되어 있다. 신경회로망 알고리즘은 컨버터의 쵸핑비를 계산하고 DC-DC 컨버터에 적용된다. 신경회로망의 출력은 수학적 모델링에 의해 계산된 값과 비교하고 알고리즘의 타당성을 제시한다.

• 한국정보통신학회논문지
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• 제16권11호
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• pp.2487-2494
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• 2012

본 논문에서는 MPPT 제어 기능을 갖는 열에너지 하베스팅 회로를 설계하였다. MPPT(Maximum Power Point Tracking) 제어는 열전소자의 개방회로전압과 MPP 전압간의 관계를 이용하였으며 열전소자의 개방회로전압을 주기적으로 샘플링 함으로써 이를 이용해 MPPT 기준전압을 생성하여 이를 기준으로 부하로의 에너지 공급을 제어한다. 모의실험 결과 94%의 최대 전력 효율을 보였다. 제안된 열에너지 하베스팅 회로는 $0.35{\mu}m$ CMOS 공정으로 설계하였으며 설계된 칩 면적은 PAD를 제외하고 $1168.7{\mu}m{\times}541.3{\mu}m$이다.

• 대한전자공학회논문지
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• 제22권2호
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• pp.6-12
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• 1985

프로세서로 제어기를 구성하여 직류 전동기의 속도제어에 적용하였다. 계단 입력과 계단파 입력에 대해서 tracking 정도와 수렴속도를 측정하였다. 또한 power supply의 전압변동과 마찰부하의 변화에 대해서 파라미터를 추정하지 않는 선형궤환 방식보다 잘 적응함을 보였다.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권10호
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• pp.587-594
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• 2005

An adaptive observer for rotor resistance is designed to estimate rotor flux for the a-b model of an induction motor assuming that rotor speed and stator currents are measurable. A singularly perturbed model of the motor is used to design an Adaptive sliding mode observer which drives the estimated stator currents to their true values in the fast time scale. The adaptive observer on the sliding surface is based on the equivalent switching vector and both the estimated fluxes and the estimated rotor resistance converge to their true values. A speed controller considering the effects of parameter variations and external disturbance is proposed in this paper. First, induction motor dynamic model at nominal case is estimated. based on the estimated model, speed controller is designed to match the prescribed speed tracking specifications. Then a dead-time compensator and a robust controller are designed to reduce the effects of parameter variations and external disturbances. the desired speed tracking control performance can be preserved under wide operating range, and good speed load regulating performance. Some simulated results are provided to demonstrate the effectiveness of the Proposed controller.

• 전기학회논문지
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• 제64권2호
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• pp.297-303
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• 2015

We propose a disturbance observer(DOB) based feedback linearization control to improve position tracking performance in the presence of disturbance. The proposed method consists of a disturbance observer and a feedback linearization controller. The disturbance observer is designed to estimate the load force disturbance in electro-hydraulic systems. An auxiliary state variable is proposed in order to avoid amplification of the measurement noises in the disturbance observer. Using the estimated disturbance enables the Electro-hydraulic servo systems(EHS) dynamics to be changed into feedback linearization from. In order to compensate for the disturbance and to track the desired position, the feedback linearization based controller is proposed. The proposed method has a simple structure which can easily be implemented in practice. As a result, the proposed method improves the position tracking performance in the presence of disturbance. Its performance is validated via simulations.

• 한국정밀공학회지
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• 제7권4호
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• pp.85-102
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• 1990

Up to now, most robot control systems are very naive. They consist of a number of independent position-servo loops to control each joint angle separately. Those control systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severely limited in range of application, speed of operation and variation of payload. This study proposed a new method to design a robot manipulator controller capable of tracking the reference trajectories of joint angles in a reasonable accuracy to cope with actual situations of varying payload, uncertain parameters. The adaptive model following control method has been used to improve existing robot manipulator controllers. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the designer. The stability of adaptive controller is based on the Second Method of Lyapunov. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance under various load varia- tion and parameter uncertainties.

• 전력전자학회논문지
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• 제3권4호
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• pp.323-329
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• 1998

계통연계형 태양광발전시스템을 PWM 쵸퍼와 전류형 인버터로 구성하였다. 전류형 인버터의 직류리액터를 경감하는 방법으로, 직류측에 병렬공진회로를 삽입함에 따라 맥동전력의 일부를 교류 전해콘덴서에 축적하여 직류전류의 맥동을 억제하는 방법과, 쵸퍼의 변조파를 전원주파수의 2배로 제어하여 직류전류의 맥동을 억제하는 것을 비교 검토하였다. 그리고 태양전지전류와 쵸퍼의 변조율만을 이용하여 태양전지가 항상 최대출력점에서 동작하도록 하였다. 계통과 연계함으로서 출력전력이 부하전력보다 큰 경우에는 잉영전력을 계통전원에 공급하고, 발전전력 부하전력에 대해 부족한 경우에는 계통전원이 부족분을 공급하는 것을 확인하였다.