• 대한임베디드공학회논문지
• /
• 제10권4호
• /
• pp.257-264
• /
• 2015

For the tracking of the way-points of hovering AUV (HAUV), we suggest a simple PID controller. The way-points are designed to approach to a virtual underwater structure and the heading angles at each way-point are set to look at the structure in the face. The proposed controller consists of a vertical controller to maintain the depth and pitch angle, and a horizontal controller to move to the desired position as well as to adjust the heading angle of the HAUV. In the simulation using Matlab/Simulink, the HAUV with the proposed PID controller is shown to track all the way-points within 1 m range while maintaining proper heading angle at each way-point.

• 한국물환경학회지
• /
• 제29권4호
• /
• pp.466-475
• /
• 2013

Non-point source pollution management is one of the most important issues in Korean water quality/watershed management. In recent years, Low Impact Development (LID) has emerged as an effective approach to control stormwater in an urban area. This study illustrates how to design and evaluate the effect of non-point pollutant management using EPA-SWMM LID module and suggests design parameters for modeling LID facilities. In addition, optimal installation locations of LID can be determined by a simple distributed hydrologic model by using SWMM for a long-term.

• 제어로봇시스템학회논문지
• /
• 제22권11호
• /
• pp.883-887
• /
• 2016

Navigating an unknown environment is a challenging task for a robot, especially when a large number of obstacles exist and the odometry lacks reliability. Pose tracking allows the robot to determine its location relative to its previous location. The ICP (iterative closest point) has been a powerful method for matching two point clouds and determining the transformation matrix between the maps. However, in a situation where odometry is not available and the robot moves far from its original location, the ICP fails to calculate the exact displacement. In this paper, we suggest a method that is able to match two different point clouds taken a long distance apart. Without using any odometry information, it only exploits the features of corner points containing information on the surroundings. The algorithm is fast enough to run in real time.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2015년도 제46회 하계학술대회
• /
• pp.1060-1061
• /
• 2015

This paper presents the control method of MPPT (Maximum Power Point Tracking) using back-to- back converter. The windturbine system use PMSG(ermanent Magnet Synchronous Generator) system considering low maintenance costs and driving performance at low wind. This paper use the adaptive sliding mode control to the torque control. Proposed method was analyzed mathematically.

• 전력전자학회논문지
• /
• 제24권1호
• /
• pp.1-8
• /
• 2019

In this study, a maximum power point tracking (MPPT) algorithm based on the perturb and observe (P&O) method with variable step size is proposed to improve the dynamic response characteristic of MPPT, using the existing P&O method. The proposed algorithm, which we verified by simulation and experiment, can track the maximum power point (MPP) through duty control and consisted of three operation modes, namely, constant voltage mode, fast mode, and variable step mode. When the insolation is constant, the voltage variation of the operating point at the MPP is reduced through the step size reduction of the duty in the variable step mode. Consequently, the vibration of the operating point is reduced, and the power generation efficiency is increased. When the insolation changes, the duty and the photovoltaic (PV) voltage are kept constant through the constant voltage mode. The operating point then rapidly tracks the new MPP through the fast-mode operation at the end of the insolation change. When the MPP is reached, the operation is changed to the variable step mode to reduce the duty step size and track the MPP. The validity of the proposed algorithm is verified by simulation and experiment of a PV system composed of a PV panel and a boost converter.

• International Journal of Aeronautical and Space Sciences
• /
• 제10권1호
• /
• pp.46-58
• /
• 2009

This paper deals with design procedure of online guidance and control law for future missiles that requires agile maneuverability. For the purpose, the missile with high powered side thruster is proposed. The guidance and control law for such missiles is discussed from a point of view of optimal control theory in this paper. Minimum time problem is solved for the approximated system. It is derived that bang- bang control is optimal input from the necessary conditions of optimal solution. Feedback guidance without iterative calculation is useful for actual systems. In this paper. multiple design point method is applied to design feedback gains and feed forward inputs of the guidance and control law. The numerical results show that the proposed guidance and control law has a high -performance for wide-ranging boundary conditions.

• 조명전기설비학회논문지
• /
• 제29권3호
• /
• pp.45-53
• /
• 2015

A I-V and P-V characteristic of solar cell is changed to nonlinear by radiation and temperature. Therefore, to use efficiently PV system, operating point of PV system is must operate at maximum power point always. A performance of conventional the PO and the IC method is depend on the step size. So it has weakness which is must select optimal step size. Also, MPPT control applying PI and fuzzy control is not expected satisfactory performance, because of PI controller has fixed gain and fuzzy control has cumulative error by an integral calculus. Therefore, this paper proposes the VS-PO(Variable Stepsize - Perturbation & Observation) MPPT control that is automatically adjusted the step size according to the operating conditions. The VS-PO MPPT method proposed in this paper analyzes control characteristic about condition of radiation and compares with conventional methods. The validity of this paper proves using this results.

• 농촌계획
• /
• 제24권4호
• /
• pp.99-119
• /
• 2018

Unit load factor, which is used for the quantification of non-point pollution in watersheds, has the limitation that it does not reflect spatial characteristics of soil, topography and temporal change due to the interannual or seasonal variability of precipitation. Therefore, we developed the method to estimate a watershed-scale non-point pollutant load using seasonal forecast data that forecast changes of precipitation up to 6 months from present time for watershed-scale water quality management. To establish a preemptive countermeasure against non-point pollution sources, it is possible to consider the unstructured management plan which is possible over several months timescale. Notably, it is possible to apply various management methods such as control of sowing and irrigation timing, control of irrigation through water management, and control of fertilizer through fertilization management. In this study, APEX-Paddy model, which can consider the farming method in field scale, was applied to evaluate the applicability of seasonal forecast data. It was confirmed that the rainfall amount during the growing season is an essential factor in the non-point pollution pollutant load. The APEX-Paddy model for quantifying non-point pollution according to various farming methods in paddy fields simulated similarly the annual variation tendency of TN and TP pollutant loads in rice paddies but showed a tendency to underestimate load quantitatively.

• 전기전자학회논문지
• /
• 제19권2호
• /
• pp.225-231
• /
• 2015

토크제어를 이용한 최대 출력 제어에서 얼마나 많은 풍력에너지를 전기에너지로 변환하는지 결정하는 파라미터 K는 블레이드 형상 변화. 공기 밀도 등으로 인하여 변동하게 된다. 이러한 파라미터 K가 최적의 값이 아니면 이는 출력의 손실까지 이어진다. 이렇게 변동하는 K로 인하여 최적의 K를 찾는 것이 풍력발전시스템의 손실을 줄이는 중요한 문제이다. 본 논문은 양방향 컨버터 제어와 토크제어를 사용한 풍력발전시스템을 고려하여 초기의 K를 이용하여 빠른 제어를 수행하고 칼만 필터를 이용한 기계적 출력을 추정하여 최대 출력 제어 알고리즘의 입력으로 다시 사용하여 결과적으로 최적의 최대 출력 제어 제어를 수행하는 적응 최대 출력 제어 알고리즘을 제안한다.

• 환경영향평가
• /
• 제25권4호
• /
• pp.248-260
• /
• 2016

본 연구의 목적은 대청호의 녹조발생 저감을 위해 우심지역인 추소수역과 그 상류 소옥천 유역에서의 다양한 수질개선 대책들을 제시하고, 대책 시행 시 저수지 수질개선 효과를 평가하는데 있다. 대책별 모의 시나리오는 유역대책과 저수지 내 대책으로 분류하였으며, 시나리오별 녹조저감 효과는 2차원 수리 수질모델을 적용하여 모의하였다. 유역 대책은 점오염원, 비점오염원, 복합 대책으로 시나리오를 구성하였으며, 호내 대책은 추소수역의 퇴적물 처리 및 소옥천 유입수의 인 처리시설 설치를 고려하였다. 연구결과, 개별 대책의 녹조저감 효과는 수문상황에 따라 다르게 나타났으며, 강우가 많은 해에는 비점오염 부하량이 증가하여 비점오염원 저감대책(NPS1~NPS4)이 효과적인 것으로 평가되었으며, 강우가 적은 해에는 평상시 호 내로 유입하는 인의 유입부하를 저감하는 화학적 인처리시설 설치(LS2)가 효과적인 것으로 평가되었다. 특히, 유역에서 발생되는 축산 분뇨를 전량 수거 처리하고 농경지에는 표준시비량만을 적용한 방안(NPS1)이 수질개선에 가장 효과적인 것으로 나타났다.