• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1911-1916
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• 2005

In this study, the basic motor control system had been investigated. The Discrete-Time Feedback Error Learning (DTFEL) method is used to control this system. This method is anologous to the original continuous-time version Feedback Error Learning(FEL) control which is proposed as a control model of cerebellum in the field of computational neuroscience. The DTFEL controller consists of two main parts, a feedforward controller part and a feedback controller part. Each part will deals with different control problems. The feedback controller deals with robustness and stability, while the feedforward controller deals with response speed. The feedforward controller, used to solve the tracking control problem, is adaptable. To make such the tracking perfect, the adaptive law is designed so that the feedforward controller becomes an inverse system of the controlled plant. The novelty of FEL method lies in its use of feedback error as a teaching signal for learning the inverse model. The PD control theory is selected to be applied in the feedback part to guarantee the stability and solve the robust stabilization problems. The simulation of each individual part and the integrated one are taken to clarify the study.

• International Journal of Aeronautical and Space Sciences
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• v.2 no.2
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• pp.95-107
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• 2001

This paper is devoted to the parameter optimization of unmanned aerial vehicle's (UAV) flight control laws. Optimization procedure is based on the ideas of mixed $H_2/H_{\infty}$ control of multi-model plants. By using this approach, some partial $H_2$-terms defining the performance of nominal and parametrically perturbed Flight Control System (FCS) responses to deterministic command signals in stochastic atmosphere as well as $H_{\infty}$-terms defining robustness of the FCS can be incorporated in the composite cost function. Special penalty function imposed on the location of closed-loop system's poles keeps the speed of response and oscillatory properties for both nominal and perturbed FCS in reasonable limits. That is the reason why this procedure may provide reasonable trade-off between the performance and robustness of FCS that are very important especially for UAV. Its practical importance is illustrated by case studies of lateral and longitudinal control of small UAV.

• Journal of Power Electronics
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• v.15 no.5
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• pp.1409-1420
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• 2015

In this paper, an algorithm using two bi-quad filters to suppress the wide-band resonance for PMSM servo systems is proposed. This algorithm is based on the double bi-quad filters structure, so it is named, "double bi-quad filter." The conventional single bi-quad filter method cannot suppress unexpected mechanical terms, which may lead to oscillations on the load side. A double bi-quad filter structure, which can cancel the effects of compliant coupling and suppress wide-band resonance, is realized by inserting a virtual filter after the motor speed output. In practical implementation, the proposed control structure is composed of two bi-quad filters on both the forward and feedback paths of the speed control loop. Both of them collectively complete the wide-band resonance suppression, and the filter on the feedback path can solve the oscillation on the load side. Meanwhile, with this approach, in certain cases, the servo system can be more robust than with the single bi-quad filter method. A step by step design procedure is provided for the proposed algorithm. Finally, its advantages are verified by theoretical analysis and experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.950-956
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• 2014

In this paper, the real-time detection method of a DDP (Driving Direction Point) is proposed for an unmanned vehicle to safely follow the center of the road. Since the DDP is defined as a center point between two lanes, the lane is first detected using a web camera. For robust detection of the lane, the binary thresholding and the labeling methods are applied to the color camera image as image preprocessing. From the preprocessed image, the lane is detected, taking the intrinsic characteristics of the lane such as width into consideration. If both lanes are detected, the DDP can be directly obtained from the preprocessed image. However, if one lane is detected, the DDP is obtained from the inverse perspective image to guarantee reliability. To verify the proposed method, several experiments to detect the DDPs are carried out using a 4 wheeled vehicle ERP-42 with a web camera.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.361-362
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• 2006

This paper presents the robust design of gripper part for a high-speed LCD (Liquid Crystal Display) transfer system. In this paper, the 1st DOE (Design of Experiment) is conducted to find out main-effect factors fur the design of gripper part. Thirty-six experiments are performed using $ANSYS^{(R)}$ and their results are statistically analyzed using $MINITAB^{(R)}$, which shows that the factors, i.e., First-width, Second-width, Rec-width, and thickness of gripper part, are more important than other factors. The main effect plots shows that the maximum deflection and mass of gripper part are minimized by increasing First-width, Second-width, Rec-width and thickness. The 2nd DOE is conducted to obtain RSM (Response Surface Method) equation. The CCD (Central Composite Design) technique with four factors is used. Optimum design is conducted using the RSM equation. Genetic algorithm is used for optimal design. Six sigma robust design is conducted to find out a guideline for control range of design parameter. To obtain six sigma level reliability, the standard deviations of design parameters are shown to be controlled within 5% of average design value.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.603-605
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• 1996

The SLIM used in the conveyance system has been generally developed the controller based on the slip frequency control and the VVVF method to obtain the quick response for the position control signal. This paper deals with the trust control of the SLIM by vector control with Bang-Bang condition. Also, the control system is composed of the PI controller for soft start of the SLIM and the q-axis current controller for correction in phase with Space Vector for reducing the harmonic pulsation in low speed. The processing for vector control and robust dynamic breaking control is carried out by MC80196KC micro processor and IGBT module. The proposed scheme is verified through the computer simulation and experiments for the 10KW SLIM.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.3
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• pp.297-302
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• 2002

The direct torque control(DTC) of induction machines has the advantages of a simple control scheme and a very quick and robust torque response and its application is extended in the traction field. However, some drawbacks of the conventional DTC strategy using a hysteresis controller are the relatively large torque ripple in the steady state and the variation of switching frequency according to the amplitude of hysteresis bands and the motor operating conditions. In this paper, a navel direct t()roue control scheme of induction machines based on stator flux control and Space Vector Modulation Is proposed to acquire the advantage of a fixed switching period and the minimization of the torque and stator current ripple in a wide speed range. The effect of proposed method has been proven by simulations and experiments.

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.3
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• pp.211-218
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• 2005

Switched Reluctance Motor(SRM) offers the advantages of simple and robust motor construction, high speed and high efficiency over a wide operating range of torque and speed, excellent controllability. However SRM has the disadvantages of high current harmonics, and low power factor because the required output of speed and torque is produced by the discontinuous and loss of power system, and brings about the incorrect operation of electronic system. This paper deals with an energy efficient converter fed SRM system with the reduced harmonics and improved power factor. The validity of the proposed scheme is verified via experiments. We are implemented the proposed control system using 80C196KC micro-controller.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.10
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• pp.1445-1450
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• 2001

Stall inception in a high-speed centrifugal compressor has been examined. The main objective was to find stall precursor and to develop a reliable stall warning method. For stall warning, a method which uses the spectrum at impeller frequency is suggested. The use of the spectrum at impeller frequency as a stall warning method showed a warning time of about two hundreds impeller revolutions. This method uses only one sensor that it has made the stall warning method more useful. And the well-known traveling wave energy method proved to be a good method for stall warning also in a high-speed centrifugal compressor. The warning time was about one hundred impeller revolutions at lower speeds, and about one thousand impeller revolutions at higher speeds. The stall warning methods used here were found to be robust and reliable. Therefore, it seems to be promising to set up a reliable stall avoidance control based on this analysis.

• Proceedings of the KIEE Conference
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• 2002.07b
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• pp.1155-1157
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• 2002

This paper presents the use of a simple genetic algorithm for the tuning of a proportional-integral speed controller for an induction motor drive. The influence of population size, generation number and rate of mutation on the convergence of the genetic algorithm is investigated. On Matlab/Simulink environment, this paper proposes an optimal GA-PI controller of indirect vector control for induction motor drive system. The simulation results verify that the system has a more robust to the parameter variation than classical PI controller.