• 제어로봇시스템학회논문지
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• 제17권1호
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• pp.38-46
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• 2011

The OPRoS (Open Platform for Robotic Service) framework provides uniform operating environment for service robots. As an OPRoS-based service robot has to support real-time as well as non-real-time applications, application of Windows NT kernel based operating system can be restrictive. On the other hand, various benefits such as rich library and device support and abundant developer pool can be enjoyed when service robots are built on Windows NT. The paper presents a user-mode component scheduler of OPRoS, which can provide near real-time scheduling service on Windows NT based on the restricted real-time features of Windows NT kernel. The component scheduler thread with the highest real-time priority in Windows NT system acquires CPU control. And then the component scheduler suspends and resumes each periodic component executors based on its priority and precedence dependency so that the component executors are scheduled in the preemptive manner. We show experiment analysis on the performance limitations of the proposed scheduling technique. The analysis and experimental results show that the proposed scheduler guarantees highly reliable timing down to the resolution of 10ms.

• Journal of Mechanical Science and Technology
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• 제15권6호
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• pp.699-708
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• 2001

This paper presents a new approach to the AFR (Air-to-Fuel Ratio) control problem, which is based on the wide-band oxygen sensor output. The dedicated nonlinear controller is based on the feedback lineaization technique. It is well known that the feedback linearizing control technique requires an exact model of the plant for the cancellation of plant nonlinearities. A sliding mode control scheme is applied which can effectively compensate the modeling uncertainties. The measurement time delay of an oxygen sensor limits the gain of the feedback controller. Hence, time delay compensation procedure is necessary for the improvement of control performance. The Smith predictor is adopted to compensate the effects of time delay. The simulation and experimental results show that the proposed controllers can effectively reduce the transient peaks of AFR in spite of fast tip-in and tip-out maneuvers of the throttle.

• Journal of Power Electronics
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• 제19권5호
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• pp.1162-1170
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• 2019

Finite-control-set model predictive control (FCS-MPC) is a promising control scheme for two-level voltage-source inverters (TL-VSIs). However, two main issues arise in the classical FCS-MPC method: an exponentially-increasing computational time and a low steady-state performance. To solve these two issues, a novel FCS-MPC method has been proposed for n-phase TL-VSIs in this paper. The basic idea of the proposed method is to carry out the FCS-MPC scheme of TL-VSIs for one leg by one leg, like a "pipeline". Based on this idea, the calculations are reduced from exponential time to linear time and its current waveforms are improved by applying more switching states per sampling period. The cases of three-phase and five-phase TL-VSIs were tested to verify the effectiveness of proposed method.

• 한국산업융합학회 논문집
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• 제25권4_1호
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• pp.521-531
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• 2022

This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2013년도 추계학술대회 논문집
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• pp.227-228
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• 2013

The paper is related to smart maximum power system based on program logic. Especially, this system compares the total demand power with the target power by using the signal from the digital kilo watt meter. Based on the power information by the maximum power control equipment the consumed future power is anticipated. In addition, through consumed future power the controllable target power is set, and it applies on the maximum power control equipment. User or manager would control the load efficiently through the simple programming which could control load based on the control sequence and relay. So this system could control load more efficient and stable. Also the conventional load control circuit is not needed. Therefore, it is possible to improve the simple system configuration, which is resulted in cost effective and time saving. So this system is anticipated on time and coast.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.119-119
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• 2000

In this research an induction motor vector control system was developed using Simulink and RTW(Real Time Workshop). On the Simulink window, control system is designed in the form of block diagrams, program codes are produced automatically with the RTW, then c compiler compiles the program codes. With this automatic real time program producing mechanism rapid prototyping is realized without the time-consuming manual program coding procedures. To show effectiveness of the proposed designing scheme a DSP-based induction motor vector control system was constructed and implemented

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.326-329
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• 1995

PID control has been widely used for real control system Further, there are muchreasearches on control schemes of tuning PID gains. However, there is no results for discrete-time systems with unknown time-dealy and unknown system parameters. On the other hand, Generalized predictive control has been reported as a useful self-tuning control technique for systems with unknown time-delay. So, in this study, based on minimization of a GPC criterion, we present a self-tuning PID control algorithm for unknown parameters and unknown tiem-delay system. A numerical simulation was presented to illuatrate the effectiveness of this method.

• Transactions on Control, Automation and Systems Engineering
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• 제3권3호
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• pp.181-189
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• 2001

The software components of embedded control systems get extremely complex as they are designed into distributed systems get extremely complex as they are designed into distributed systems consisting of a large number of inexpensive microcontrollers interconnected by low-bandwidth real-time networks such as the controller area network (CAN). While recently emerging middleware technologies such as CORBA and DCOM address the complexity of distributed programming, they cannot be directly applied to distributed control system design due to their excessive resource demand and inadequate communication models. In this paper, we propose a CORBA-based middleware design for CAN-based distributed embedded control systems. Our design goal is to minimize its resource need and make it support group communication without losing the IDL (interface definition language) level compliance to the OMG standards. To achieve this, we develop a transport protocol on the CAN and a group communication scheme based on the well-known publisher/subscriber model. The protocol effectively realizes subject-based addressing and supports anonymous publisher/subscriber communication. We also customize the method invocation and message passing protocol, referred to as the general inter-ORB protocol (GIOP), of CORBA so that CORBA method invocations are efficiently serviced on a low-bandwidth network such as the CAN. This customization includes packed data encoding and variable-length integer encoding for compact representation of IDL data types. We have implemented our CORBA-based middleware on the mArx real-time operating system we have developed at Seoul National University. Our experiments clearly demonstrate that it is feasible to use CORBA in developing distributed embedded control systems possessing severe resource limitations. Our design clearly demonstrates that it is feasible to use a CORBA-based middleware in developing distributed embedded systems on real-time networks possessing severe resource limitations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.87.2-87
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• 2001

By the state transformation including independent outputs functions, a nonlinear process model can be decomposed into two subsystems; the one(design model) is described in output variables as new states and used for control system synthesis and the other(disturbance model) is described in the original unavailable states and its couplings with the design model are treated as uncertain time-varying parameters in the design model. Its existence with respect to the design model is ignored. So, the design model is an uncertain time-variant system. Control synthesis based on a reduced design model is a combined ...

• 전기학회논문지
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• 제65권12호
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• pp.2000-2007
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• 2016

Generally, in order to implement the CRM(Critical Conduction Mode), the analog controller is used rather than a digital controller because the control is simple and uses less power. However, according to the semiconductor technology development and various user needs, digital control system based on a DSP is on the rise. Therefore, in this paper, the CRM bridgeless PFC converter based on a digital control is proposed. It is necessary to detect the inductor current when it reaches zero and peak value, for calculating the on time and off time by using the current information. However, in this paper, the on-time and off-time are calculated by using the proposed algorithm without any current information. If the switching-times are calculated through the steady-state analysis of the converter, they do not reflect transient status such as starting-up. Therefore, the calculated frequency is out of range, and the transient current is generated. In order to solve these problems, limitation method of the on-time and off-time is used, and the limitation values are varied according to the voltage reference. In addition, in steady state, depending on the switching frequency, the inductance is varied because of the resonance between the inductor and the parasitic capacitance of the switching elements. In order to solve the problem, inductance are measured depending on the switching frequency. The measured inductance are used to calculate the switching time for preventing the transient current. Simulation and experimental results are presented to verify the proposed method.