• Title/Summary/Keyword: Propulsion Controller

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Development and Application of LPB Management System for Bimodal Tram (바이모달트램용 LPB Management System 개발 및 적용)

  • Lee, Kang-Won;Mok, Jai-Kyun
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.64 no.4
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    • pp.231-235
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    • 2015
  • Bimodal Tram developed by KRRI is driven by a series Hybrid propulsion system which has both the CNG engine, generator and LPB(Lithium Polymer Battery) pack. It has three driving modes; Hybrid mode, Engine mode and Battery mode. Even in case of Battery mode, LPB pack to get enough power to drive the vehicle only by itself onsists of 168 LPB cells(80Ah per lcell), 650V. It is important thing to manage LPB pack in a right way, which will extend the lifetime of LPB cells and operate in the hybrid mode effectively. This paper has shown the development of battery management system(12 BMS, 1 BMS per 14cells) to manage LPB pack which is connected with CAN(Controller Area Network) each other and measure the voltage, current, temperature and also control the cooling fan inside of LPB pack. Using the measured data, BMS can show the SOC(State of Charge), SOH(State of Health) and other status of LPB pack including of the cell balancing.

A Study on the Development of Underwater Robot Control System for Autonomous Grasping (자율 파지를 위한 수중 로봇 제어 시스템 구축에 관한 연구)

  • Lee, Yoongeon;Lee, Yeongjun;Chae, Junbo;Choi, Hyun-Taek;Yeu, Taekyeong
    • The Journal of Korea Robotics Society
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    • v.15 no.1
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    • pp.39-47
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    • 2020
  • This paper presents a control and operation system for a remotely operated vehicle (ROV). The ROV used in the study was equipped with a manipulator and is being developed for underwater exploration and autonomous underwater working. Precision position and attitude control ability is essential for underwater operation using a manipulator. For propulsion, the ROV is equipped with eight thrusters, the number of those are more than six degrees-of-freedom. Four of them are in charge of surge, sway, and yaw motion, and the other four are responsible for heave, roll, and pitch motion. Therefore, it is more efficient to integrate the management of the thrusters rather than control them individually. In this paper, a thrust allocation method for thruster management is presented, and the design of a feedback controller using sensor data is described. The software for the ROV operation consists of a robot operating system that can efficiently process data between multiple hardware platforms. Through experimental analysis, the validity of the control system performance was verified.

Active Vibration Control System Using Electromagnet Actuator (전자기 액츄애이터를 이용한 능동 진동제어시스템)

  • Lee, Joo-Hoon;Jeon, Jeong-Woo;Hwang, Don-Ha;Kang, Dong-Sik;Choi, Young-Kiu
    • Proceedings of the KIEE Conference
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    • 2005.07d
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    • pp.2809-2811
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    • 2005
  • In this paper, we address an active vibration control system, which suppresses the vibration engaged by magnetically levitated stage. The stage system consists of a levitating platen with four permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion via the vertical and horizontal forces. In the stage system, which represents the settling-time critical system, the motion of the platen vibrates mechanically. We designed an active vibration control system for suppressing vibration due to the stage moving. The command feedforward with inertial feedback algorithm is used for solving stage system's critical problems. The components of the active vibration control system are accelerometers for detecting stage tables's vibrations, a digital controller with high precise signal converters, and electromagnetic actuators.

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A Study on Prediction of Propulsive Energy Loss Related to Automatic Steering of Ships in Following Seas (추사피중에서 자동조타로써 항행하는 선박의 추진에너지 손실량 평가에 관한 연구)

  • 이경우;손경호
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 1996.04a
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    • pp.77-92
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    • 1996
  • When an automatic course-keeping is concerned as is quite popular in modern navigation the closed-loop steering system consists of autopilot device power unit (or telemotor unit) steering gear magnetic or gyro compass and ship dynamics. The consideration of irregular disturbances to ship dyanmics and a few non-linear mechanisms involved in the system inevitably or artificially are known to be very important in properly evaluating or analyzing the automatic steering system. In the present study the mathematical model of each element of an automatic steering system is derived which takes account of a fex non-linear mechanisms. PD(Proportional-Derivative) controller and low-pass filter with a weather adjustment are adopted to modelling the characteristics of an autopilot. The calculation method of imposing irregular disturbances to ship dynamics is proposed where irregular disturbances implying irregular wave and the fluctuating component of wind. For he evaluation of automatic steering system of ships in the open seas an important term "performance index" is introduced from the viewpoint of energy saving which derived from the concept of energy loss on ship propulsion. Finally the present methods are applied to two typical types of ship ; an ore carrier and a fishing boat. The various effects of linear and/or non-linear control constants of autopilot on propulsive energy loss are investigated to validate and clarify the present smulation technique.

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A Study on Azimuth Thruster for a Small Vessel (소형선박용 아지무쓰 추진기의 선회장치에 관한 연구)

  • Park, J.P.;Lee, J.M.;Jin, S.Y.;Bae, J.H.;Jung, Y.G.
    • Journal of Power System Engineering
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    • v.13 no.5
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    • pp.18-24
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    • 2009
  • This paper shows the result of development about the revolution system of azimuth thruster which of power is less than 250kW for small ship. Advanced Azimuth revolution system can revolve propeller and rudder from 360 degree so that this system for vessel maneuvering can be excellent of propulsion effectively. Fluid power control system for azimuth thruster is designed with PID control system by using CEMTool/SIMTool program. And the actuator used for servo valve can control rudder angle, pressure and direction. The first, We had a test for the angle control of revolution system. The result of angle control confirmed that it has the good efficiency from experiment result of time input degree $30^{\circ}$, $90^{\circ}$ and $180^{\circ}$. The second, We had to a test for the pressure characteristic of hydraulic motor. As a result, We confirmed the maximum pressure 3.5MPa and steady state 0.7MPa nom experiment result of time input degree $30^{\circ}$. In this paper, it is identified the pressure characteristic of hydraulic motor and angle control for azimuth thruster by AMESim, and it has been confirmed the usefulness of AMEsim modeling was verified by comparison between AMESim simulation results and experiments results.

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SENSORLESS CONTROL FOR INDUCTION MOTOR USED IN TRACTION APPLICATION (견인용 유도전동기의 센서리스 제어)

  • Ryoo, Hong-Je;Kim, Jong-Soo;Rim, Geun-Hie;Kisck, Dragos Ovidiu;Won, Chung-Yuen
    • Proceedings of the KIEE Conference
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    • 2000.07b
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    • pp.1136-1139
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    • 2000
  • The paper describes a new and rigorous mathematical model for the rotor field oriented system with induction motor which uses the estimated speed and rotor flux based on a Model Reference Adaptive System, as well as the real-time approach. The estimated speed and rotor flux is used for the speed and flux feedback control. The stability and the convergence of the estimator are improved on the basis of hyperstability theory for non-linear systems. The real-time controller and estimator are implemented with a sampling period of $926{\mu}s$ using a dual TMS320C44 floating-point digital signal processor. The validity of the proposed method is verified by simulation, and also, the sensorless control was tested on the propulsion system simulator, used for the development of Korean High-Speed Railway Train (KHSRT) [5].

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Comparison of Battery Charging Strategies for PHEVs using Propulsion Motor Inductance and Multi-Function Inverter (인덕터 및 모터 인덕턴스를 이용한 PHEV 배터리 충전 기법 비교 분석)

  • Woo, Dong-Gyun;Choe, Gyu-Yeong;Kim, Jong-Soo;Lee, Byoung-Kuk;Kang, Gu-Bae
    • The Transactions of the Korean Institute of Power Electronics
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    • v.16 no.4
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    • pp.326-333
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    • 2011
  • This paper studies battery charging methods using existing motor inductance and 3-phase inverters without an additional charger to charge the battery of Plug-in Hybrid Electric Vehicles (PHEVs). As inverter switch control and motor coil used as the energy storage device for boosting make the system the boost converter, the additional charger is eliminated and volume, weight, and cost for the charger are reduced. Various charging methods according to topologies of the system and configurations of the controller are analyzed and verified by PSIM simulation.

An Approach to a Speed Estimation Method to Remove Speed Sensor of Underwater Robot's AC Drive Systems (수중로봇용 AC구동시스템의 속도센서 제거를 위한 속도추정법 연구)

  • 전봉환;임용곤;이판묵
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 1998.05a
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    • pp.371-376
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    • 1998
  • This paper describes an approach to a speed estimation method to remove speed sensor of underwater robot's AC drive systems. AC motors have been widely used in the field of underwater robot's manipulator or propulsion system. Most of these AC motors for underwater use have usually filled oil to compensate the high pressure in deep-sea operation, where a resolver is adopted to feed back the speed of rotor But this kind of speed feedback devices gives rise to some defects arising from their mechanical complexity and numerous signal lines; a resolver needs 6 or 7 signal lines for proper operation. This paper presents a speed estimation method to improve these problems of induction motor, which is adopted as a prototype of AC motor. The proposed speed estimation method is based on the RFO(rotor flux orientation) vector control method of voltage-fed AC drives. Using the controller of voltage-fed AC drives, it is unnecessary to measure the voltage for the estimation of rotor speed, which reduces the effects of measurement error Numerical simulation is carried out to investigate the validity of the method and the effects of rotors resistance variation.

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A Design Of Active Vibration Control System For Precise Maglev Stage (초정밀 자기부상 스테이지용 능동진동제어시스템 설계)

  • Lee, Joo-Hoon;Kim, Yong-Joo;Son, Sung-Wan;Lee, Hong-Ki;Lee, Se-Han;Choi, Young-Kiu
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2004.11a
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    • pp.121-124
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    • 2004
  • In this paper, we address an active vibration control system, which suppresses the vibration engaged by magnetically levitated stage. The stage system consists of a levitating platen with four permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force fer suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion via the vertical and horizontal forces. In the stage system, which represents the settling-time critical system. the motion of the platen vibrates mechanically. We designed an active vibration control system for suppressing vibration due to the stage moving. The command feedforward with inertial feedback algorithm is used fer solving stage system's critical problems. The components of the active vibration control system are accelerometers for detecting stage table's vibrations, a digital controller with high precise signal converters, and electromagnetic actuators.

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Verification of KAUSAT-2 Satellite Attitude Control Algorithm Using KAUSatSIM Simulator (KAUSatSIM을 이용한 한누리 2호 자세제어 알고리즘 검증)

  • Na, Hee-Seung;Lee, Byung-Hoon;Chang, Young-Keun
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.36 no.5
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    • pp.514-523
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    • 2008
  • This paper presents a single-axis simulator developed to verify the attitude control algorithm of KAUSAT-2 satellite. Named KAUSatSIM, the simulator is composed of a single-axis rotation table using an air-bearing that simulates a frictionless environment, as well as sensors and momentum wheel that was used on KAUSAT-2. The simulator can be utilized for verification of KAUSAT-2 attitude control algorithm, development of new algorithms, and verification of performance. Tests were performed on the single-axis rotation simulator using the momentum wheel in order to verify the attitude control algorithm of KAUSAT-2. Satisfactory test results were obtained by designing a wheel controller that employs the proportional-derivative control method. In addition, a propulsion system was added and tested for development of a new satellite attitude control algorithm.