• 제어로봇시스템학회논문지
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• 제21권12호
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• pp.1193-1200
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• 2015

An effective swing trajectory of legged robots is different from the swing trajectories of humans or animals because of different dynamic characteristics. Therefore, it is important to find optimal parameters through experiments. This paper proposes a real-time nonlinear programming (RTNLP) method for optimization of the swing trajectory of the legged robot. For parameterization of the trajectory, the swing trajectory is approximated to parabolic and cubic spline curves. The robotic leg is position-controlled by a high-gain controller, and a cost function is selected such that the sum of the motor inputs and tracking errors at each joint is minimized. A simplified dynamic model is used to simulate the dynamics of a robotic leg. The purpose of the simulation is to find the feasibility of the optimization problem before an actual experiment occurs. Finally, an experiment is carried out on a real robotic leg with two degrees of freedom. For both the simulation and the experiment, the design variables converge to a feasible point, reducing the cost value.

• Journal of Electrical Engineering and Technology
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• 제12권2호
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• pp.541-548
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• 2017

An increasing concern is paid to short-term voltage stability with the growth of penetration of induction motor loads. Reactive power reserve(RPR) of power system is critical to improve voltage stability. A definition of short-term voltage stability-related RPR(SVRPR) is proposed. Generators vary their contributions to voltage stability with their location and system condition, etc. Voltage support coefficient based on the second-order trace sensitivity method is proposed to evaluate SVRPR's contribution to short-term voltage stability. The evaluation method can account for the generator's reactive support in transient process and the contingency severity. Then an optimization model to improve short-term voltage stability is built. To deal with multiple contingencies, contingency weight taking into account both its probability and severity is proposed. The optimization problem is solved by primal dual interior point method. Testing on IEEE_39 bus system, it is indicated that the method proposed is effective. Short-term voltage stability is improved significantly by the way of SVRPR optimization. Hence, the approach can be used to prevent the happening of voltage collapse during system's contingency.

• 중소기업융합학회논문지
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• 제4권1호
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• pp.41-45
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• 2014

이모빌라이저 시스템은 자동차 키에 저장된 코드와 자동차 엔진 ECU에 저장된 암호코드가 일치하는 경우에만 자동차 시동이 걸리는 차량 도난방지 시스템이다. 이모빌라이저 시스템 자동차의 키 분실 및 차량이 도난당했을 경우 이에 대응하기 위해 스마트 폰 등을 이용 KDC와 KMC를 통하여 사용자 인증을 마친 후 새로운 비밀 번호를 부여받는 모델을 제안한다.

• 전력전자학회논문지
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• 제21권4호
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• pp.343-350
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• 2016

Generally, the average phase current is sampled at the midpoint of a PWM signal for the vector control of an AC motor. The three-phase current can also be reconstructed from a DC-link shunt resistor by sampling the shunt voltage during the active vectors of the SVPWM. However, the reconstructed current is different from the average current because of the deviation of the sampling point from the midpoint of the PWM signal. This paper proposes an algorithm to estimate the average current from the reconstructed current in a single-shunt inverter. The proposed method is derived from the phase current slopes based on switching states and corresponding switching time. In addition, the proposed method is generalized for all the six sectors of the space vector hexagon. The validity of the proposed algorithm is verified with simulations and experiments.

• 한국자동차공학회논문집
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• 제14권6호
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• pp.43-49
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• 2006

Optimizing in-cylinder flow such as tumble or swirl is one of the key factors to develop better internal combustion engines. Especially, the tumble, which is more dominant flow in current high performance gasoline engines, has significant effects on the fuel consumptions and exhaust emissions under part load conditions. The first step for the tumble optimization is to find an accurate but cost-effective way to measure the tumble ratio. From this point of view, tumble ratios from three different measuring methods were compared and correlated in this research. Steady flow rig, water rig, and PIV were utilized for that purpose. Engine dynamometer test was also performed to find out the effect of the tumble. The results show that the tumble ratios from those methods are well correlated and that the steady flow rig is the effective method to measure the tumble despite its limitations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.221-223
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• 2008

This paper presents a maximum power point tracking(MPPT) of Photovoltaic system with chopping ratio of DC-DC converter considered load. A variation of solar irradiation is most important factor in the MPPT of PV system. That is nonlinear, aperiodic and complicated. The paper consists of solar radiation source, DC-DC converter, DC motor and load(cf, pump). NN algorithm apply to DC-DC converter through an adaptive control of neural network, calculates converter-chopping ratio using an adaptive control of NN. The results of an adaptive control of NN compared with the results of converter-chopping ratio which are calculated mathematical modeling and evaluate the proposed algorithm. The experimental data show that an adequacy of the algorithm was established through the compared data.

• 비파괴검사학회지
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• 제21권6호
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• pp.630-633
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• 2001

본 연구에서는 국내에서 생산되는 에어콘용 팬의 진동해석을 위해 ESPI를 이용하였다. 기존의 진동해석 실험으로 많이 사용되는 가속도계를 에어콘용 팬에 직접 적용하는 데에는 형상의 제약 등으로 적용이 어려워 비접촉 진동해석기술을 요구하였다. 실험은 가진 장치를 이용하여 팬에 가진을 하고 ESPI를 이용하여 진동모드 및 고유주파수, 고유주파수의 범위를 검사하였다. 또한, 실험결과는 유한요소 해석과 비교되었으며, 실험결과로부터 실제 팬의 사용 회전수에서 제품의 신뢰성을 평가하였다 본 연구에서 사용된 ESPI는 품질개선을 위한 재질변화 또는 형상변화 시 설계측면에서 효과적인 설계정보를 제공할 수 있으며, 기존의 진동해석 기술의 단점을 보완할 수 있으리라 사료된다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.467-472
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• 2005

Load/Unload(L/UL) technology includes the benefits, that is, increased areal density, reduced power consumption and improved shock resistance contrary to contact start stop(CSS). It has been widely used in portable hard disk drive and will become the key technology for developing the small form factor hard disk drive. The main objectives of L/UL are no slider disk contact or no media damage. For realizing those, we must consider many design parameters in L/UL systems. In this paper, we focus on the effect of the ramp profile. We can find out the lateral velocities in L/UL process through experiments and simulations for force of voice coil motor and friction force on ramp. And then, we will gain the optimal design of ramp slope to maintain the minimum clearance of suspension dimple and slider with FE model. In special, after finding the point at which air bearing breaks and designing the ramp, we will identify the results for improving unload performance.

• 한국소음진동공학회논문집
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• 제21권1호
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• pp.3-8
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• 2011

This paper introduces a robot eye module, of which two degree-of-freedom motions, i.e. panning and tilting, are driven by a pair of wires. The main feature of the module is that each wire can generate push-pull motion without buckling. It is thanks to a Teflon tube which guides the path of the moving wire. End points of the tube and wire have pivot elements so that a smooth push-pull motion is produced even when the end point of wire is moved by eye rotation. This mechanism helps the eye module to be very compact. In this paper, the structure of the robot eye module is introduced in detail, and the required motor angles for a certain direction of eye line are investigated analytically and experimentally.

• 조명전기설비학회논문지
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• 제25권9호
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• pp.14-25
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• 2011

The solar vehicle is in the spotlight in the eco-friendly aspect of photovoltaic system using unlimited solar energy. The solar vehicle uses energy of photovoltaic and battery. The solar vehicle uses stored energy in battery when photovoltaic power is lower than consumption power by solar vehicle and if photovoltaic power is higher than consumption power by solar vehicle then photovoltaic power is stored to battery. To improve use efficiency of photovoltaic, the researches about MPPT method to operate maximum power point and interior permanent magnet synchronous motor(IPMSM)drive system using photovoltaic is necessary. This paper proposes MPPT control algorithm for solar vehicle using new fuzzy control(NFC). In this paper, to reduce switching loss, the DC-DC converter is omitted. The NFC controller can be use instead of PO. The NFC controller is performed MPPT control using solar cell voltage and q -axis current of IPMSM. The output of NFC is command q -axis current of IPMSM and this current is operated IPMSM. The response characteristics of algorithm proposed in this paper is compared response characteristics of conventional PO method by PSIM program and validity of this paper prove using this result.