• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.3
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• pp.850-860
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• 1996

This paper considers a sliding mode controller for a depth and course control of a class of submersible Vehicles. Since the vehicle used here shows complex dynamic characteristics sensitive to speed variation and buoyancy, robustness in control of vertical and horizontal plane motions of the vehicle is achieved by using the sliding mode controller of which a structure varies according to a pre-designed principle, so called the variable structure control. To compare this controller with another in robustness, PID controller for the same model of vehicle is designed. From various simulations for two controllers, it is shown that the sliding mode controller is the more robust anainst to modeling errors and disturbances.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.35-42
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• 2003

This paper proposes a simple, robust, nonlinear controller based on Lyapunov stability for tracking the reference welding path and velocity of a two-wheeled welding mobile robot (WMR). The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for faster tracking because the welding speed is very slow. Control law is obtained from the Lyapunov control function to ensure the asymptotical stability of the system. The controller has three free parameters for adjusting the performance of the controlled system. A simple way of measuring the errors using two potentiometers is introduced. The effectiveness of the proposed controller is shown through simulation results.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.8
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• pp.1297-1302
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• 2017

Recently, SRMs are used in automobiles for power assistant steering, accessory motion control and traction drives. Especially in the motion control and traction drives, safety and efficiency are of paramount importance. The paper describes the essential elements faced in designing and constructing driving circuits for a switched reluctance motor for automobiles. An important factor in the selection of a motor and a drive for industrial application is the cost. The switched reluctance motor(SRM) is a simple, low-cost, and robust motor suitable for variable-speed as well as servo-type applications. With relatively simple converter and control requirements, the SRM is gaining an increasing attention in the drive industry. This paper presents a modified C-dump converter for Switched Reluctance Motor (SRM) machine application in the cooling system of automobiles. The experiments are performed to verify the capability of applicate control method on 6/4 salient type SRM.

• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.426-429
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• 1988

A Microprocessor Based Digital Control System is inherently contained a control lag for processing the control program and a data detection time lag. This two types of time lag may cause the system to become unstable. In this paper proposed predictive state observer is used to solve the two time lag problems. I-P control algorithm is used to attain deadbeat response by adjusting the observer gain to overcome the parameter variation or with disturbance. The speed response shows good performance through computer simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.664-669
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• 2003

This paper proposes a swing-arm type dual-stage actuator, which consists of a PZT actuator for fine motion and a VCM(Voice Coil Motor) for coarse motion, for SFF ODD(Small Form Factor Optical Disk Drive), in order to achieve fast access speed and precise track following control. We focus our attention on the design and control of the PZT actuator, because there have been a lot of previous researches related to the VCM and dual-stage actuators. Due to the dual cantilever structure, the PZT actuator can generate precise translational tracking motion at its tip where optical pickup is attached at, and the effect of hysteric behavior of the PZT element is reduced. The dynamic model of the PZT actuator is derived by using the Hamilton's principle, and verified by comparing with the experimental frequency response. The sliding mode control is designed in order to be robust against modeling uncertainties. Simulations and experimental results confirm the effectiveness of the suggested control scheme.

• Journal of Power Electronics
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• v.18 no.3
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• pp.736-745
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• 2018

This paper presents an extended state observer (ESO) based direct torque control (DTC) for use in induction motor systems to handle the issues of time delays, load torque disturbances and parameter uncertainties. Direct torque control offers an excellent torque response and it does not require a proportion integration (PI) controller in the current loop. However, a PI controller is still adopted in the outer speed loop to generate the torque reference value, which is a slow method. An ESO based compound control scheme is proposed to improve the response rate and accuracy of the torque reference signal, especially when load torque is injected. In addition, the time delay problem is analyzed and compensated for in this paper to reduce torque ripples. The proposed disturbance compensation technique based direct control scheme is shown to have good performance both in the transient and stable states via simulations and experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.151-151
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• 2000

The objective of this paper is to develop the new robust and adaptive control system against external environments as applying the probabilistic recognition which is one of the inherent properties of immune system, ability of learning and memorization, and regulation theory of immune network to the system under engineering point of view. In this paper, HIA(Humoral Immune Algorithm) PID controller using Neural Network Identifier was proposed to drive the autonomous guided vehicle(AGV) more effectively. To verify the performance of the proposed HIA PID controller, some experiments for the control of steering and speed of that AGV are performed.

• Journal of Electrical Engineering and Technology
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• v.13 no.2
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• pp.761-768
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• 2018

In this paper, the performance analysis of a control topology based on the direct output power control (DPC) for robust and inexpensive permanent magnet-assisted synchronous reluctance generator (PMa-SynRG) system is presented. The PMa-SynRG might be coupled to an internal combustion engine running at variable speed. A three-phase PWM rectifier rectifies the generator output and supplies the dc link. A single-phase PWM inverter supplies constant ac voltage at constant frequency to the grid. The overall control algorithm is implemented on a TMS320F2812 digital signal processor board. Simulations results and experimental results verify the operation of the proposed system.

• Journal of Advanced Navigation Technology
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• v.16 no.6
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• pp.1005-1013
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• 2012

In this paper, the induction motor in indirect vector control method modeling, from indirect vector control method it undergoes an influence to the $1/{\tau}$. When changing a rotor resistance because being like this quality Matlab/Simulink where it will make what kind of effect in speed presumption it led proposed control system used microprosser TMS320C31 DSP for high speed processing. The effectiveness of the proposed system is verified by simulation and experimental results. This result shows highly characteristic speed estimation and robust character of load regulation. and the flux which it follows in change of parameter and speed presumption it was under simulation and get the good result which it comes to get it analyzed.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.4
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• pp.109-119
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• 1999

Switched Reluctance Motor(SRM) have been expanding gradually their awlications in the variable speed drives due to their relatively low cost, simple and robust structure, controllability and high efficiency. In this paper neural network theory is used to detemrine fuzzy-neural network controller's membership ftmctions and fuzzy rules. In addition neural network emulator is used to emulate forward dynamics of SRM and to get error signal at fuzzy-neural controller output layer. Error signal is backpropagated through neural network emulator. The backpropagated error of emulator offers the path which reforms the fuzzy-neural network controller's mmbership ftmctions and fuzzy rules. 32bit Digital Signal Processor(TMS320C31) was used to achieve the high speed control and to realize the fuzzy-neural control algorithm. Simulation and experimental results show that in the case of load variation the proposed control rrethcd was superior to a conventional rrethod in the respect of speed response.sponse.