• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.379-382
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• 1996

Evolution Strategy is used as an effective search algorithm in optimization problems and Sliding Mode Control is well known as a robust control algorithm. In this paper, we propose a Sliding Mode Control Method for robot manipulator using Evolution Strategy. Evolution Strategy is used to estimate Sliding Mode Control Parameters such as sliding surface gradient, continuous function boundary layer, unknown plant parameters and switching gain. Experimental results show the proposed control scheme has accurate and robust performances with effective search ability.

• Proceedings of the KIEE Conference
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• 1996.07c
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• pp.1807-1809
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• 1996

The axial discharge at switching operations of EHV $SF_6$ disconnector can lead to the breakdown to the enclosure. Precursor in periphery zone leads to formation of leader over some time delay. Injected charge value depends on electric field and gap geometry. The calculation method for parameters of $SF_6$ insulation for DS in EHV-GIS is suggested by using the new criterion of leader inception in connection with periphery field nearby the boundary of streamer zone.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.3 s.147
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• pp.322-330
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• 2006

Numerical calculations are carried out for flow past a circular cylinder forced oscillating normal to the free-stream flow at a fixed Reynolds number equal to 185. The cylinder oscillation frequency ranged from 0.8 to 1.2 of the natural vortex-shedding frequency, and the oscillation amplitude extended up to 20% of the cylinder diameter. IBM (Immersed Boundary Method) with direct momentum forcing was adopted to handle both of a stationary and an oscillating cylinder Present results such as time histories of drag and lift coefficients for both stationary and oscillating cases are in good agreement with previous numerical and experimental results. The instantaneous wake patterns of oscillating cylinder with different oscillating frequency ratios showed the synchronized wakes pattern in the lock-in region and vortex switching phenomenon at higher frequency ratio than the critical frequency ratio.

• Journal of Electrical Engineering and Technology
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• v.4 no.2
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• pp.240-248
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• 2009

An approach to control the position for an interior permanent magnet synchronous motor (IPMSM) based on an adaptive integral binary observer is described. The binary controller with a binary observer is composed of a main loop regulator and an auxiliary loop regulator. One of its key features is that it alleviates chatter in the constant boundary layer. However, steady state estimation accuracy and robustness are dependent upon the thickness of the constant boundary layer. In order to improve the steady state performance of the binary observer and eliminate the chattering problem of the constant boundary layer, a new binary observer is formed by adding extra integral dynamics to the existing switching hyperplane equation. Also, the proposed adaptive integral binary observer applies an adaptive scheme because the parameters of the dynamic equations such as the machine inertia and the viscosity friction coefficient are not well known. Furthermore, these values can typically be easily changed during normal operation. However, the proposed observer can overcome the problems caused by using the dynamic equations, and the rotor position estimation is constructed by integrating the rotor speed estimated with a Lyapunov function. Experimental results obtained using the proposed algorithm are presented to demonstrate the effectiveness of the approach.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.5
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• pp.57-68
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• 1995

A general procedure for the numerical solution of coupled, nonlinear, differential two-point boundary-value problems, solutions of which are crucial to the controller design, has been developed and demonstrated. A fixed-end-points, free-terminal-time, optimal-control problem, which is derived from Pontryagin's Maximum Principle, is solved by an extension of Davidenko's method, a differential form of Newton's method, for algebraic root finding. By a discretization process like finite differences, the differential equations are converted to a nonlinear algebraic system. Davidenko's method reconverts this into a pseudo-time-dependent set of implicitly coupled ODEs suitable for solution by modern, high-performance solvers. Another important advantage of Davidenko's method related to the time-optimal problem is that the terminal time can be computed by treating this unkown as an additional variable and sup- plying the Hamiltonian at the terminal time as an additional equation. Davidenko's method uas used to produce optimal trajectories of a single-degree-of-freedom problem. This numerical method provides switching times for open-loop control, minimized terminal time and optimal input torque sequences. This numerical technique could easily be adapted to the multi-point boundary-value problems.

• Journal of Satellite, Information and Communications
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• v.9 no.3
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• pp.86-90
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• 2014

A DC-DC Converter operates in CCM(Continuous Coundcution Mode), DCM(Discontinuous Conduction Mode), CRM(Critical Conduction Mode). The CRM is boundary between CCM and DCM. If a DC-DC converter is designed to operate in CRM, its inductor volume can decrease and power loss which caused by switch and diode can decrease. In this paper, the DC-DC converter which operates in CRM is applied to a solar array regulator(SAR) for the satellite. The switching frequency of the CRM boost SAR changes according to input and output condition. The switching frequency limit logic is applied to limit the maximum switching frequency. Meanwhile, the small signal transfer function of the CRM boost SAR is simple, so the controller design is also simple. In this paper, the small signal transfer function from control reference to solar array voltage is induced. And the voltage controller is designed based on the small signal transfer function. Finally, the CRM boost SAR is verified by simulation.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.6
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• pp.34-43
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• 2008

The state-space average model is extended to buck-boost, and buck-boost topology switching mode DC/DC converters and modified to have higher precision without increment of computation. The modified model is used in continuous conduction mode(CCM) switching DC/DC converters and some significant conclusions are derived. This paper discusses the discontinuous conduction mode(DCM) modeling of DC/DC converter and critical characteristic using average model of switch. Average model of switch approach is expended to the modeling of boundary conduction mode DC/DC converters that operate at the boundary between continuous conduction mode(CCM) and discontinuous conduction mode(DCM). Frequency responses predicted by the average model of switch are verified by simulation and experiment. A prototype featuring 15[V] input voltage, 24[V] output voltage, and 24[W] output power using MOSFET.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.1
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• pp.61-65
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• 2010

A commercially available soft PZT wafer that is poled in thickness direction is subjected to longitudinal tensile stress loading in both short and open-circuit conditions. Variations of electric displacement in thickness direction and in-plane strains are measured over time during the loading. Different material responses in the two electrical boundary conditions are explained by the effects of piezoelectrically produced internal electric field on linear material moduli and domain switching mechanisms. Finally, a free energy model of normal distribution is introduced to explain the observed creep behavior, and its predictions are compared with experimental observations.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2528-2530
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• 2000

In general, Diode makes a major role in electronic circuit. For example, switching of rectifier, cross current of switching rectifier, energy transfer of electronic element and reverse charge of capacitor, voltage insulation, energy feedback from load to power supply, and such as recovery of storaged energy. Generally, We regard power diode as ideal element, but it has a certain boundary actually, specially, We use diode for detecting circuit peak hold voltage signal. It has cut in voltage. It occurs error of measurement value namely. This error, below in region diode voltage drop (0.7v) measurement value is wholesome signal, Specially, We can not get precision data. Therefore, precision level is low between theoretical and measurement data because of error in actual circuit. Conclusionally, In this paper, We define the error concerning to the power diode characteristics which is used detecting of the minute signal, and recommend the method that minimize measurement error.

• Journal of Power Electronics
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• v.19 no.3
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• pp.655-664
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• 2019

In order to analyze the nonlinear phenomena of the bifurcation and chaos caused by the switching of nonlinear switching devices in inductively coupled power transfer (ICPT) systems, a Jacobian matrix model, based on discrete mapping numerical modeling, is established to judge the system stability of the periodic closed orbit and to study the nonlinear behavior of Hopf bifurcation in a system under full resonance. The general flow of the parameter design, based on the stability principle for ICPT systems, is proposed to avoid the chaos and bifurcation phenomena caused by unreasonable parameter selection. Firstly, based on the state equation of SS-type compensation, a three-dimensional bifurcation diagram with the coupling coefficient as the bifurcation parameter is established with a numerical simulation to observe the nonlinear phenomena in the system. Then Filippov's method based on a Jacobian matrix model is adopted to deduce the boundary of stable operation and to judge the type of the bifurcation in the system. Then the general flow of the parameter design based on the stability principle for ICPT systems is proposed through the above analysis to realize stable operation under the conditions of weak coupling. Finally, an experimental platform is built to confirm the correctness of the numerical simulation and modeling.