• Journal of Power Electronics
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• 제18권6호
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• pp.1670-1682
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• 2018

The further improvement of submarine propulsion is associated with the modularity of accumulator-fed inverters, such as cascaded inverters (CIs). CI technology guarantees smooth output voltages with reduced switch frequencies under linear loads. However, the output voltages of CIs are distorted under rectifier loads. This distortion requires harmonic suppression technology. One such technology is the repetitive controller (RC), which is commonly applied but suffers from poor performance in propulsion systems. In this study, the FFT spectrum of a CI under rectifier load is analyzed, and the harmonic contents are uneven in magnitude. For the purpose of harmonic suppression, the control gains at each harmonic frequency should be seriously considered. A RC with a specific harmonic gain compensation (SHGC) for CIs is proposed. This method provides additional control gains at low-order harmonic frequencies, which are difficult to achieve with conventional RCs. This SHGC consists of a band-pass filter (BPF) and proportional element and is easy to implement. These features make the proposed method suitable for submarine propulsion. Experimental results verify the feasibility of the improved RC.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.540-543
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• 1997

In this paper, a precise trajectory tracking method for mobile robot using a vision system is presented. In solving the problem of precise trajectory tracking, a hierarchical control structure is used which is composed of the path planer, vision system, and dynamic controller. When designing the dynamic controller, non-ideal conditions such as parameter variation, frictional force, and external disturbance are considered. The proposed controller can learn bounded control input for repetitive or periodic dynamics compensation which provides robust and adaptive learning capability. Moreover, the usage of vision system makes mobile robot compensate the cumulative location error which exists when relative sensor like encoder is used to locate the position of mobile robot. The effectiveness of the proposed control scheme is shown through computer simulation.

• 전기학회논문지P
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• 제55권2호
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• pp.83-88
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• 2006

This paper proposes a method that minimizes the consumed energy by searching the optimal locations of the mass centers of the biped robot's links using Genetic Algorithm. This paper presents a learning controller for repetitive gait control of the biped robot. The learning control scheme consists of a feedforward learning nile and linear feedback control input for stabilization of learning system. The feasibility of learning control to the biped robotic motion is shown via computer simulation and experimental results with 24 DOF biped walking robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.917-921
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• 2000

One of the major limitations of productivity and quality in machining is machining accuracy of the machine tools. The machining accuracy is affected by geometric, volumetric errors of the machine tools. This paper suggests the enhancement method of machining accuracy for precision machining of high quality metal reflection mirror or optics lens, etc. In this paper, we study 1) the compensation of linear pitch error with NC controller compensation function using laser interferometer measurement, 2) the method for enhancing the accuracy of NC milling machining by modeling and compensation of volumetric error, 3) the generation of the parabolic face profile. And the method is verified by the parabolic face machining experiment with a vertical three axes NC milling machine. After this study, we will inspect using On-machine measurement and study the repetitive machining by a compensated path

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.244-244
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• 2000

We proposed the above-knee prosthesis using rotary MR damper in which knee joint is semi-actively controlled by microprocessor. Dissipation torque in the knee joint can be controlled by the magnetic field which is induced by applying current to a solenoid, Tracking control of knee joint angle was tested by 3-DOF Leg simulator. The experimental results show that the proposed above-knee prosthesis system had good performance in swing phase tracking and repetitive controller in conjunction with a computed control law and PD control law, reduced RMS tracking error as the repetitions of tracking. Moreover, desired knee angle trajectory was generated based on the estimation of gait period with the gyro signal and the tracking control was performed.

• Journal of Power Electronics
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• 제13권6호
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• pp.1070-1079
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• 2013

This paper develops an enhanced harmonic voltage compensator which is implemented with the aid of two repetitive controllers (RCs) in order to improve the output voltage performance of stand-alone distributed generation (DG) systems. The proposed harmonic voltage compensator is able to maintain the DG output voltage sinusoidal regardless of the use of nonlinear and/or unbalanced loads in the load side. In addition, it can offer good steady-state performance under various types of loads and a very fast dynamic response under load variations to overcome the slow dynamic response issue of the traditional RC. The feasibility of the proposed control strategy is verified through simulations and experiments.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2017년도 추계학술대회
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• pp.23-24
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• 2017

본 논문은 무정전전원장치의 전압품질 향상을 위한 디지털 홀수고조파 반복제어기 설계기법에 대해 기술한다. 반복제어기의 설계를 위해 전체 제어시스템을 설계하고, 반복제어기가 안정하기 위한 기준을 제시한다. 비선형 부하에 대해 반복제어기를 적용함으로써, 인버터 출력전압의 홀수고조파 성분을 효과적으로 보상할 수 있으며, 이를 모의실험 및 실험으로 확인한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.286-289
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• 1996

Two servo control algorithms are suggested to reduce the tracking error of a computer hard disk drive. One is the repetitive control to reduce the repeatable tracking error which is not explicitly taken into account in the design of a conventional controller. This algorithm was successfully applied to a commercial disk using a fixed point DSP. The other is the multi-rate sampling control which generates the control output between each sampling times since the sampling time of hard disk drives is limited. These algorithms were shown effectively to reduce tracking errors.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2003년도 하계학술대회 논문집
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• pp.173-176
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• 2003

In this paper, a DLC method is suggested for linear feedback systems to improve the tracking performance when the task of the system is repetitive. DLC can generate the desired control input directly from the previously teamed control inputs corresponding to other output trajectories. It is assumed that all outputs considered in this paper have some relations called "proportionality. " To show the validity and tracking performance of the proposed method, some simulation are performed for the tracking control of a linear system with a PI controller.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2020년도 전력전자학술대회
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• pp.344-345
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• 2020

본 논문에서는 계통연계형 시스템에서 계통 주파수 변동이 발생할 경우 계통 전류 왜곡 보상을 위한 주파수 적응형 위상기반 반복제어기의 설계기법에 대하여 기술한다. 기존의 반복제어기를 적용한 경우 계통 주파수 변동 시 주파수 변동에 따라 제어 성능이 보장되지 않는다는 단점이 있다. 이를 보완하기 위해 PLL로 추정된 계통 위상각을 이용한 반복제어기의 메모리 할당을 통해, 주파수 변동에 대응이 기능한 위성 기반 반복제어기의 설계 방법을 제안하였으며, 모의실험을 통해 그 성능을 검증하였다.