• 태양에너지
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• 제19권4호
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• pp.81-91
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• 1999

The work presented here is a design and development of sun tracking system for the parabolic dish concentrator. Parabolic dish concentrator is mounted on azimuth and elevation tracking mechanism, and controlled to track the sun with computed and measured sun positions. Sun tracking mechanism is composed of 1/30000 speed reducer(3 stages) and 400W AC servomotor for each axis. The nominal tracking speed of each axis is ${\pm}0.6^{\circ}/sec$ and the system has a driving range of $340^{\circ}$ in azimuth and of $135^{\circ}$ in elevation. Sun tracking control system consists of sun sensor, wind speed and direction measurement system, AC servomotor position control system and personal computer as a master controller. Sun sensor detects the sun located within ${\pm}50^{\circ}$ measured from the sun sensor normal direction. Computer computes the sun position, sunrise and sunset times and controls the orientation of parabolic dish concentrator through the AC servomotor position control system. It also makes a decision of whether the system should follow the sun or not based on the information collected from sun sensor and wind speed and direction measurement system. The sun tracking system developed in this work is implemented for the experimental work and shows a good sun tracking performance.

• 전기전자학회논문지
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• 제22권2호
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• pp.460-475
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• 2018

In the variable-speed wind energy system, to achieve maximum power point tracking (MPPT), the wind turbine should run close to its optimal angular speed according to the wind speed. Non-linear control methods that consider the dynamic behavior of wind speed are generally used to provide maximum power and improved efficiency. In this perspective, the mechanical power is estimated using Kalman filter. And then, from the estimated mechanical power, the wind speed is estimated with Newton-Raphson method to achieve maximum power without anemometer. However, the blade shape and air density get changed with time and the generator efficiency is also degraded. This results in incorrect estimation of wind speed and MPPT. It causes not only the power loss but also incorrect wind resource assessment of site. In this paper, the adaptive maximum power point tracking control algorithm for wind turbine system based on the estimation of wind speed is proposed. The proposed method applies correction factor to wind turbine system to have accurate wind speed estimation for exact MPPT. The proposed method is validated with numerical simulations and the results show an improved performance.

• 제어로봇시스템학회논문지
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• 제4권2호
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• pp.226-234
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• 1998

The concept of dynamic tracking line is proposed as the feasible tracking region for a robot in a robot-conveyor system, which takes the conveyor speed into consideration. This paper presents an effective method to identify the dynamic tracking line in a robotic workcell. The maximum line speed of a robot is derived in an analytic form using the parameterized dynamics and kinematics of the manipulator, and some of its properties are established mathematically. The identification problem of the dynamic tracking line is then formulated as a root-solving problem for a single-variable equation, and solved by using a simple numerical technique. Finally, numerical examples are presented to demonstrate the methodology and its applications in workspace specification.

• Journal of Power Electronics
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• 제17권2호
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• pp.358-367
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• 2017

This paper presents a novel filtering method for speed measurements to improve the low-speed performance of the direct-drive permanent magnet traction machines for elevators. Based on the theory of nonlinear tracking differentiator (NTD), this method, which can act as a high performance filter of a raw speed signal, obtains a more accurate speed feedback signal when applying a low-resolution encoder. In addition, it can relieve the interference caused by the position derivative for speed sampling. By analyzing the frequency response of the NTD, the influence of its parameters on the performance of the speed filtering is investigated. Compared with different types of low-pass filters, the proposed method shows a shorter time delay and a stronger ability in terms of noise suppression when the parameters are selected carefully. In addition, when using the measured speed signal through a nonlinear tracking differentiator as the feedback of the system, the motor runs more steadily at low speeds. As a result, the riding comfort of a direct-drive elevator can be improved. The feasibility of the proposed strategy was verified on an 11.7kW elevator traction machine using a commercial inverter.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.660-663
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• 1996

There has been many activity to increase accuracy in machining center by reducing tracking error. The tracking error can cause bad effect in high speed rigid tapping in which syncronization servo motor with spindle is relatively important. To reduce tracking error, feed forward control has been used, but no method is provided knowing motor dynamics, force variation, etc. In this paper, we observe that, despite of tracking error of relevant axis, high speed tapping could be possible by reducing contour error of axis to be syncronized. We present the method to increase accuracy in high speed tapping to minimize contour error by automatically fitting gains of servo and spindle.

• 조명전기설비학회논문지
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• 제26권8호
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• pp.27-34
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• 2012

This paper proposes variable incremental conductance(IC) algorithm for maximum power point tracking(MPPT) control of photovoltaic. The conventional perturbation & observation(PO) and IC MPPT control algorithm generally uses fixed step size. A small step size reduces a tracking error in the steady state but slows a tracking speed in the transient state. Also, a large step size is fast a tracking speed but increases a tracking error. Therefore, this paper proposes variable IC MPPT algorithm that adjust automatically step size according to operating conditions. To improve a tracking speed and accuracy, when operating point is far from the maximum power point(MPP), the step size uses maximum value and when a operating point is near from the MPP, the step size uses variable step size that adjust according to slope of P-V curve. The validity of MPPT algorithm proposed in this paper prove through compare with conventional PO and IC MPPT algorithm.

• 유공압시스템학회논문집
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• 제4권2호
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• pp.21-27
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• 2007

This paper deals with the issue of trajectory tracking control of a clamping cylinder for injection moulding machine, which is directly driven by speed controlled hydraulic pump in combination with AC servomotor. As a fundamental step prior to tracking controller design, feedback control system is developed by implementing a position control loop parallel with a system pressure control loop. A sliding mode controller combining velocity feedforward scheme is developed for enhancing the tracking performance. Consequently a significant reduction in tracking error is achieved for both position and pressure control applications.

• 한국어병학회지
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• 제35권2호
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• pp.205-214
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• 2022

In recent years, there have been many studies investigating changes in animal behavior using video tracking technology to track motion. However, there have been very few studies and results on changes in the behavior of fish infected with a pathogen. Therefore, the present study attempted to analyze the behavior of angelfish (Pterophyllum scalare) infected with bacterial pathogens using video tracking. Two cameras were placed in front of the water tank to obtain behavior data, and tracking was performed for three days until the day of death. Data such as average speed, changes in speed, the locations of the fish in the tank, and fractal dimension were statistically analyzed based on the fish speed and location in the tank of the fish. For bacterial infection, an individual angelfish was intraperitoneally injected with approximately 10⁶ CFU ml^-1 of Aeromonas hydrophila or Edwardsiella piscicida. The experiment was carried out five times for each group. Fish infected with the bacterial pathogens showed a tendency to increase in speed and to spend more time in the upper part of the tank one or two days before death. On the day the fish died, the average speed, changes in speed, and the fractal dimension value were significantly lower than the corresponding values in the control group, and the fish also remained in the lower part of the tank. Our results indicated that behavioral changes in fish could be successfully detected earlier than death using video tracking technology, and that this method presents potential for disease monitoring in aquaculture.

• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.460-467
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• 2018

Metaheuristic optimization approach has become the new framework for control synthesis. The main purposes of the control design are command (input) tracking and load (disturbance) regulating. This article proposes an optimal proportional-integral-derivative (PID) controller design for the DC motor speed control system with tracking and regulating constrained optimization by using the cuckoo search (CS), one of the most efficient population-based metaheuristic optimization techniques. The sum-squared error between the referent input and the controlled output is set as the objective function to be minimized. The rise time, the maximum overshoot, settling time and steady-state error are set as inequality constraints for tracking purpose, while the regulating time and the maximum overshoot of load regulation are set as inequality constraints for regulating purpose. Results obtained by the CS will be compared with those obtained by the conventional design method named Ziegler-Nichols (Z-N) tuning rules. From simulation results, it was found that the Z-N provides an impractical PID controller with very high gains, whereas the CS gives an optimal PID controller for DC motor speed control system satisfying the preset tracking and regulating constraints. In addition, the simulation results are confirmed by the experimental ones from the DC motor speed control system developed by analog technology.

• 한국공간정보시스템학회 논문지
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• 제8권2호
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• pp.1-11
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• 2006

This paper addresses a GIS (Geographic Information System) based system in order to reduce the rate of public transportation accidents occurring in Iranian roads network. Over the years, the road accidents are a major issue throughout the world. Today, particular consideration is given to those technologies which can lead to diminish on the number of critical incidents. One of the main factors resulting in accidents and fatalities rates growth is the speed violation of buses in Iranian road network. The conventional speed controlling approach in Iran based on the Tachograph which records vehicle's speed, time, and stoppage in the mechanical processing has many problems. Hence, this research is intended to design and implement a GIS-based system to manage road accident of Bus transportation system using offline tracking system. This was accomplished using a GIS-based technique that encompasses three steps. The first step is developing a GIS-based accident system. The second step includes designing and applying a tracking system inside 90 buses for recording Bus information for speed controlling. Lastly, by using mentioned system in police center, the illegal drivers' punishment would be considered properly. Overall, this system has been successfully applied in this work. Therefore, the police and transportation office are able to control and make policy to diminish the number of accident. It is anticipated that online tracking system through the Web GIS would be utilized In this system in the near future.