• 대한기계학회논문집A
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• 제26권8호
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• pp.1534-1544
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• 2002

The TDCSA(Time Delay Control with Switching Action) method, which consists of Time Delay Control(TDC) and a switching action of sliding mode control(SMC), has been proposed as a promising technique in the robust control area, where the plant has unknown dynamics with parameter variations and substantial disturbances are preset. When TDCSA is applied to the plant with saturation nonlinearity, however, the so-called windup phenomena are observed to arise, causing excessive overshoot and instability. The integral element of TDCSA and the saturation element of a plant cause the windup phenomena. There are two integral effects in TDCSA. One is the integral effect occurred by time delay estimation of TDC. Other is the integral term of an integral sliding surface. In order to solve this problem, we have proposed an anti-windup scheme method for TDCSA. The stability of the overall system has been proved for a class of nonlinear system. Experiment results show that the proposed method overcomes the windup problem of the TDCSA.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1120-1124
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• 2005

We reviewed controllers with a time delay estimation in this paper. Time delay control (TDC) and sliding mode control (SMC) are well known robust control schemes. Basically, the TDC has a main characteristic called a time delay estimation from which we can estimate the total uncertainty of a system. . The TDC causes the stick-slip in the case of systems with a friction. The so-called TDCSA which are short for TDC with switching action was developed to reduce the stick-slip. The TDC has the additional switching action term in the TDC structure. In the other hand, the SMC dose not have a time delay estimation but instead it can estimate the system uncertainty through the switching action. The SMC has a difficulty to estimate the total uncertainty of a system because it does not have a time delay estimation. In order to solve the difficulty, some control schemes were developed. Among them, we need to focus our attention on two control schemes: SMCPE and SMCTE, which are short for sliding mode control with a perturbation estimation and sliding mode control with a time delay estimation, respectively. In this paper, we analyzed and compared the characteristic of above three controllers. Even though the motives for the development of three control schemes are different, three control schemes have much in common in terms of their controller structures.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.103-106
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• 2003

In this paper, we present a hybrid inertial and vision-based tracking system for VR applications. One of the most important aspects of VR (Virtual Reality) is providing a correspondence between the physical and virtual world. As a result, accurate and real-time tracking of an object's position and orientation is a prerequisite for many applications in the Virtual Environments. Pure vision-based tracking has low jitter and high accuracy but cannot guarantee real-time pose recovery under all circumstances. Pure inertial tracking has high update rates and full 6DOF recovery but lacks long-term stability due to sensor noise. In order to overcome the individual drawbacks and to build better tracking system, we introduce the fusion of vision-based and inertial tracking. Sensor fusion makes the proposal tracking system robust, fast, accurate, and low jitter and noise. Hybrid tracking is implemented with Kalman Filter that operates in a predictor-corrector manner. Combining bluetooth serial communication module gives the system a full mobility and makes the system affordable, lightweight energy-efficient. and practical. Full 6DOF recovery and the full mobility of proposal system enable the user to interact with mobile device like PDA and provide the user with natural interface.

• 전기학회논문지
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• 제62권10호
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• pp.1487-1493
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• 2013

A new simple control method for active power filter, which can realize the complete compensation of harmonics is proposed. In the proposed scheme, a model-based digital current control strategy is presented. The proposed control system is designed and implemented in a form referred to as internal model control structure. This method provides a convenient way for parameterizing the controller in term of the nominal system model, including time-delays. As a result, the resulting controller parameters are directly set based on the power circuit parameters, which make tuning of the controllers straightforward task. In the proposed control algorithm, overshoots and oscillations due to the computation time delay is prevented by explicit incorporating of the delay in the controller transfer function. In addition, a new compensating current reference generator employing resonance model implemented by a DSP(Digital Signal Processor) is introduced. Resonance model has an infinite gain at resonant frequency, and it exhibits a band-pass filter. Consequently, the difference between the instantaneous load current and the output of this model is the current reference signal for the harmonic compensation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.1729_1730
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• 2009

This paper presents comparative experimental results of PI sliding mode control and PI control for a heavy duty robot which can handle an object of 600kg, The gains of the PI control was determined by TAE(Trial and Error) method. This paper presents a novel approach for the decoupling of the states cross-coupling using sliding mode control. The sliding mode control methode is based on the error between reference speeds and the actual speed. The proposed method has the advantages of PI control performance and the sliding mode control robustness. Its first step is to design PI controller, then the sliding mode control input term is added to it. This makes actual implementation of the controller easier. The robot and motion controllers were designed and made by author. The good control performance of the heavy duty robot was obtained by using simple algorithm. This means that the robot was designed very well in control respect.

• Journal of Electrical Engineering and Technology
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• 제8권6호
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• pp.1439-1450
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• 2013

This paper investigates a robust neuro-fuzzy control (NFC) method which can accurately follow the speed reference of an interior permanent magnet synchronous motor (IPMSM) in the existence of nonlinearities and system uncertainties. A neuro-fuzzy control term is proposed to estimate these nonlinear and uncertain factors, therefore, this difficulty is completely solved. To make the global stability analysis simple and systematic, the time derivative of the quadratic Lyapunov function is selected as the cost function to be minimized. Moreover, the design procedure of the online self-tuning algorithm is comparatively simplified to reduce a computational burden of the NFC. Next, a rotor angular acceleration is obtained through the disturbance observer. The proposed observer-based NFC strategy can achieve better control performance (i.e., less steady-state error, less sensitivity) than the feedback linearization control method even when there exist some uncertainties in the electrical and mechanical parameters. Finally, the validity of the proposed neuro-fuzzy speed controller is confirmed through simulation and experimental studies on a prototype IPMSM drive system with a TMS320F28335 DSP.

• Tribology and Lubricants
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• 제24권4호
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• pp.179-185
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• 2008

Microporous polymer lubricants(MPLs) are solid polymer materials containing micropores which are filled with liquid lubricants, and which are molded or formed to suit rolling bearings or other machine parts requiring lubrication. MPLs can be effectively applied to provide long-term, maintenance-free lubrication of a variety of machine elements without fully replacing of oils and greases. The application of rolling bearings packed fully with an MPL could reduce or eliminate the problems such as grease deterioration, leakage, under-lubrication caused by insertion of water or foreign matters under severe operation conditions. This paper discuss the application of MPLs for lubrication of rolling ball bearings. Two different MPLs were synthesized and the features of MPLs were tested. Characteristics of the bearings which are packed fully with synthesized MPLs were investigated using SEM, TG/DSC, extents of oil leakage, OIT, and life time test. After these preliminary tests twelve MPLs were synthesized and evaluated by measuring extents of oil leakage and OIT values. Then synthesis conditions for the optimum MPL were selected by SSRED(Six Sigma Robust Engineering Design) pro gram using extents of oil leakage and OIT values respectively. The optimum MPL by means of OIT value showed higher performance such as long life time and application at higher temperature of $140^{\circ}C$ than previous temperature of $100^{\circ}C$.

• 한국항공우주학회지
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• 제37권1호
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• pp.1-16
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• 2009

최근 공학적으로 응용 범위가 넓은 액체-기체의 2상 유동장에 대한 전산 해석이 주목을 받고 있다. 본 연구에서는 밀도차가 큰 압축성 2상 유동장을 해석하기에 적합하도록 기존에 개발된 RoeM과 AUSMPW+ 공간 이산화 기법을 확장하였다. RoeM과 AUSMPW+에서 사용되는 충격파 포착항을 2상 혼합류의 상태방정식으로부터 새롭게 정의하여, 밀도와 음속이 상이한 두 유체에서도 정확성을 보장하면서 충격파 불안정성을 제거할 수 있도록 하였다. 개발된 2상 유동 RoeM과 AUSMPW+를 몇 가지 예제 문제에 적용하여 검증하였으며, 해석 결과는 두 수치기법이 일반적인 2상 유동에서도 충격파 안정적이며 정확한 특성을 갖는 것을 보여주었다.

• 전자공학회논문지
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• 제51권9호
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• pp.3-10
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• 2014

LTE 시스템의 하향링크 동기 신호는 PSS (primary synchronization signal)과 SSS (secondary synchronization signal)로 나눠져 있으며, 미리 정해져 있는 3 개의 신호 중 하나가 전송되는 PSS 신호를 먼저 찾은 다음 SSS 신호를 검출하게 된다. 본 논문에서는 부분 상관값 계산 구간의 길이가 다른 검출기들을 동시에 사용하는 PSS 검출 방식을 제안한다. 우선 구간별 부분 상관값을 다시 활용함으로써 여러 개의 검출기를 동시에 사용함에 따른 계산량의 증가를 최소화한다. 또한, 동시에 사용된 검출기들의 결과 값 중에서 가장 믿을 만한 하나의 값을 선택하기 위하여 임시 주파수 오차 값(tentative frequency offset)을 이용한 동기식 최종 추정치 선택 방법을 제안한다. 컴퓨터 모의실험을 통하여, 제안된 방식이 넓은 주파수 오차 범위에서 안정적인 PSS 검출 성능을 보임을 검증하고자 한다.

• 방송공학회논문지
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• 제16권1호
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• pp.178-181
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• 2011

최근, 모바일 기기의 발전, 팬/틸트 카메라를 사용한 지능형 감시 시스템 등이 발전하면서 비정적 환경에서의 추적알고리즘에 대한 연구가 활발하게 이루어지고 있다. 비정적 환경에서는 배경에 대한 모델링이 어렵기 때문에 주로 컬러, 텍스쳐 등의 피쳐를 이용한 객체 추적이 이루어진다. 이 경우 배경에 나타나는 객체의 컬러와 유사한 컬러들로 인해 추적이 불안정해진다. 본 논문에서는 컬러에 기반한 객체추적 방법들 중에 상대적으로 안정적이고 속도가 빠른 중심 이동 (Centroid Shifting) 기반의 추적 알고리즘을 더욱 안정화하기 위해 배경에 대한 영향을 줄이고, 시간 필터링을 접목하는 방법에 대하여 제안하고자 한다.