• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.22-31
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• 1999

In this paper, a robust observer design method for nonlinear multi input multi-output(MINO) plants is presented. This method enables the extension of the time delay observer (TDO) for nonlinear SISO plants in the phase variable form to MIMO plants. The designed TDO reconstructs the states of the plant expressed in the generalized observability canonical form (GOBCF), yet requiring neither the transformation of a plant, nor the real time computation coordinates, the observer turned out to be computationally efficient and easy to design for nonlinear MIMO plants. In a simulation of a two-link manipulator with flexible joints, the control performances using TDO appeared to be similar to those using actual states and superior to those using numerical differentiation. Finally, in an experiment with a robot, it was confirmed that the TDO reconstructs the states reliability and TDO can be effectively used in a real closed-loop system.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.6
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• pp.1399-1411
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• 1994

A model helicopter has more versatile flight capability than the fixed-wing aircraft and it can be used as an unmaned vehicle in hazardous area. A helicopter, similar to other aircrafts, is an unstable, multi-input multi-output nonlinear system exposed to strong disturbance. So it should be controlled by robust control theories that can be applied to multivariable systems. In this study, motion equations of hovering are established, linearized and transformed into a state equation form. Various parameters are measured and calculated in other to obtain the stability derivatives in the state equation. Hovering flight controller is designed using the digital LQG/LTR(Linear Quadratic Gaussian/Loop Transfer Recovery) control theory. The designed controller is tested by the nonlinear simulations and implemented on an IBM-PC/386. Experiments were carried out on a model helicopter attached to the 3-DOF gimbal. The designed controller showed satisfactory hovering capability to maintain the hovering for more than 40 seconds.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.712-717
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• 2001

This paper investigates the control problem of evaporator superheat, i.e., the difference between the temperature of the refrigerant at the entrance region of an evaporator and that at the exit region, for multi-type air-conditioning/refrigeration systems. Mathematical equations describing the characteristics of compressor, condenser, evaporator, and electronic expansion valve are first derived. Then, the transfer functions from the current input of the electronic expansion valve to wall temperatures of evaporator tube at two-phase region and superheated region, respectively, are derived. The stability and performance of the closed loop system with a PI controller are analyzed by Nyquist stability criterion. Simulation results are provided.

• Journal of Power Electronics
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• v.18 no.1
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• pp.160-170
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• 2018

For high power photovoltaic (PV) grid-connected converters, high order filters such as multi-tuned filters and Traps+RC filters with outstanding filtering performance have been widely researched. In this paper, the optimization of a multi-tuned filter with a low damping resistance and research on its corresponding control scheme have been combined to improve the performance of the proposed filter. Based on the characteristics of the switching harmonics produced by PWM, the proposed filter is optimized to further improve its filtering performance. When compared with the more common Traps+RC filter, the advantages of the proposed filter with low damping resistances in attenuating the major switching harmonics have been demonstrated. In addition, a simpler topology and reduced power loss can be achieved. On the other hand, to make the implementation of the proposed filter possible, on the base of the unique frequency response characteristic of the proposed filter, a digital single-loop control scheme has been proposed. This scheme is a simple and effective means to suppress the resonance peak caused by a lack of damping. Therefore, a smaller volume, better efficiency of the proposed filter, and easy implementation of the corresponding control scheme can be realized. Finally, the superiority of the proposed filter topology and control scheme is verified in experiments.

• IEIE Transactions on Smart Processing and Computing
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• v.5 no.1
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• pp.35-42
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• 2016

Developments in power electronics have enabled the widespread application of Pulse Width Modulation (PWM) inverters, notably for connecting renewable systems to the grid. This study demonstrates that a high-quality power can be achieved using a stand-alone inverter, whereby the comparison between the power quality of the stand-alone inverter with battery storage (off-grid) and the power quality of the utility network is presented. Multi-loop control techniques for a single phase stand-alone inverter are used. A capacitor current control is used to give active damping and enhance the transient and steady state inverter performance. A capacitor current control is cheaper than the inductor current control, where a small current sensing resistor is used. The output voltage control is used to improve the system performance and also control the output voltage. The inner control loop uses a proportional gain current controller and the outer loop is implemented using internal model control proportional-integral-derivative to ensure stability. The optimal controls are achieved by using the Sisotool tool in MATLAB/Simulink. The outcome of the control scheme of the numerical model of the stand-alone inverter has a smooth and good dynamic performance, but also a strong robustness to load variations. The numerical model of the stand-alone inverter and its power quality are presented, and the power quality is shown to meet the IEEE 519-2014. Furthermore, the power quality of the off-grid system is measured experimentally and compared with the grid power, showing power quality of off-grid system to be better than that of the utility network.

• Structural Engineering and Mechanics
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• v.67 no.6
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• pp.643-658
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• 2018

In this paper, we introduce a new framework for running the finite element (FE) packages inside an online Loop together with MATLAB. Contrary to the Hardware-in-the-Loop techniques (HiL), in the proposed Software-in-the-Loop framework (SiL), the FE package represents a simulation platform replicating the real system which can be out of access due to several strategic reasons, e.g., costs and accessibility. Practically, SiL for sophisticated structural design and multi-physical simulations provides a platform for preliminary tests before prototyping and mass production. This feature may reduce the new product's costs significantly and may add several flexibilities in implementing different instruments with the goal of shortlisting the most cost-effective ones before moving to real-time experiments for the civil and mechanical systems. The proposed SiL interconnection is not limited to ABAQUS as long as the host FE package is capable of executing user-defined commands in FORTRAN language. The focal point of this research is on using the compiled FORTRAN subroutine as a messenger between ABAQUS/CAE kernel and MATLAB Engine. In order to show the generality of the proposed scheme, the limitations of the available SiL schemes in the literature are addressed in this paper. Additionally, all technical details for establishing the connection between FEM and MATLAB are provided for the interested reader. Finally, two numerical sub-problems are defined for offline and online post-processing, i.e., offline optimization and closed-loop system performance analysis in control theory.

• JSTS:Journal of Semiconductor Technology and Science
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• v.16 no.4
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• pp.387-394
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• 2016

This paper presents a fully digital delay locked loop (DLL) that can acquire lock in four clock cycles with a resolution of a 1/4 NAND-delay. The proposed DLL with a multi-dither-free phase detector acquires the initial lock in four clock cycles with 1/2 NAND-delay. Then, it utilizes a multi-dither-free phase detector, a region accumulator, and phase blenders, to improve the resolution to a 1/4 NAND-delay. The region accumulator which continuously steers the control registers and the phase blender, adaptively controls the tracking bandwidth depending on the amount of jitter, and effectively suppresses the dithering jitter. Fabricated in a 65 nm CMOS process, the proposed DLL occupies $0.0432mm^2$, and consumes 3.7 mW from a 1.2-V supply at 2 GHz.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.9 s.186
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• pp.142-148
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• 2006

Hydraulic excavators have been popular devices in construction fields because of their multi-workings and economic efficiency. The mathematical models of excavators have many nonlinearities because of opening characteristics and dead zone of main control valve(MCV), oil temperature variation, etc. The objective of this paper is to develop a simulator for hydraulic excavator using AMESim. Components and their circuits are expressed graphically. Also, parameters and nonlinear characteristics are considered in a text style. From the simulation results, fixed spring stiffness of MCV can not obtain the satisfactory accuracy of spool displacement under whole P-Q diagrams. Closed loop type MCV containing a proportional gain, is proposed in this paper that can reduce displacement error. The ability of closed loop MCV is verified through comparing with normal type MCV using AMESim simulator. The excavator simulator can be used to forecast the attachment behaviors when components, mechanical attachments and hydraulic circuits change, or other control algorithms are applied. The simulator could be a kind of development platform for new excavators.

• Proceedings of the SAREK Conference
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• 2008.11a
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• pp.21-26
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• 2008

Recently, small and medium-sized buildings have employed a multi-heat pump. The major benefits of the multi-heat pump over a conventional system are that it is easier system to maintain along with a diversification of facility use, and high comfortability. The performance of multi-heat pump systems can be enhanced by using geothermal energy instead of air source energy. This paper describes the multi-heat pumps applied in an ground source heat pump system for an actual building. The performance of a ground source multi-heat pump installed in the field was investigated in cooling mode. The maximum COP of the systems with single U-tube and double tube ground loop heat exchangers were 6.6 and 6.0, respectively. It is suggested that the new algorithms to control the flow rate of secondary fluid for ground loop heat exchanger have to be developed in order to enhance the performance of the system.

• Aerospace Engineering and Technology
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• v.8 no.1
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• pp.172-178
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• 2009

Recently, autopilot is essential to reduce pilot's workload and increase flight safety. Avionics system of the small aircraft also has progressively adopted centralized multi-processor and multi-process computing architectures similar to the integrated modular avionics of B-777. It is increased more and more that importance of the flight control system. In this paper, the performance of the autopilot for the small aircraft has been verified with Hardware-In-the-Loop Simulation(HILS). Also, the autopilot algorithm that is operated in the Flight Control Computer(FCC) for the Fly by Wire(FBW) was verified with PILS and compared with the HILS results for the several commercial autopilots.