• Proceedings of the KIPE Conference
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• 2015.07a
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• pp.263-264
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• 2015

태양광 발전용 PCS(Power Conditioning System)의 성능을 평가를 위해 사용되는 PV Simulator는 전압제어방식 또는 전류제어방식으로 제어할 수 있다. 각각의 제어방식을 개별적으로 개방전압 운전점에서 단락전류 운전점까지 부하를 가변 하였을 때 서로 상반된 구간에서 불안정한 구간이 발생한 것을 실험을 통해 발견하였다. 이렇게 불안정한 제어 구간에서는 PV Simulator의 출력 전압과 전류가 심하게 바운싱되기 때문에 전 운전 범위에서 PCS의 성능평가를 하는데 제한이 있을 뿐만 아니라, 하드웨어에도 손상을 줄 수 있다. 본 논문은 전압제어방식과 전류제어방식이 각각 안정한 제어 구간에서 불안정한 제어 구간으로 이동되기 전에 히스테리시스 가변 구조로 제어함으로써 두 제어방식의 장점을 극대화 시킨 PV Simulator 제어기를 제안한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.1
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• pp.16-22
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• 2016

The research on two-wheeled inverted pendulum (TWIP) mobile robots has been ongoing in a number of robotic laboratories around the world. In this paper, we consider a robust controller design for the TWIP mobile robot driving on uniform slopes. We use a 2 degree-of-freedom (DOF) model which is obtained by restricting the spinning motion in a 3 DOF motion dynamic equation. In order to design the robust controller guaranteeing stability of the TWIP mobile robot driving on inclined surface, we propose a sliding mode control based on the theory of variable structure systems and design a sliding surface using the theory of the linear quadratic regulation (LQR). For simulation, the dynamic model of the TWIP mobile robot is constructed using Mathworks' Simulink and the sliding mode control is also implemented using Simulink. From simulation results, we show that the proposed controller effectively controls the TWIP mobile robot driving on slopes.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.518-521
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• 2005

The Structures or buildings nowadays draw more complexity in design due to space limitation and other factor that affect the height and dimensions, that results to instability. So the various methods have been carried out to improve the safety factor from an earthquake or a boom until recently. But, it is very hard to get model precisely because these structures are the non-linear and multi-variable systems. For this reason, we developed the active control system that is applied the adaptive control method on the U type Tuned Liquid Damper(TLD) passive control system. It is proven that the proposed active control strategy of the plate carrying U type TLD system is the more effective control method to suppress the vibration of the structure. The entire hybrid control system is composed of the actuator acted in the opposite direction of the TLD system's motion direction and the active control device with an air pressure adjuster. This paper proposed the adaptive control methods to improve the problem of U type TLD system which is used widely for the passive control of the building. And it is proved by the simulation. In advanced, it is developed the pressure control method that is improved the hybrid controller's performance by using air chamber pressure controller. These methods take the advantage of the decrease of the maximum displacement by using the controller as soon as the impact is loaded. This is a very important element for the safety design and economic design of structures.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.3
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• pp.30-39
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• 2011

In this note, a systematic design of a new robust nonlinear continuous variable structure control system(VSCS) based on the modified state dependent nonlinear form is presented for the control of uncertain affine nonlinear systems with mismatched uncertainties and matched disturbance. After an affine uncertain nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a new robust nonlinear VSCS is presented. The uncertainty of the nonlinear system function is separated into the tow parts, i.e., state dependent term and state independent term for extension of target plants. To be linear in the closed loop resultant dynamics and in order to easily satisfy the existence condition of the sliding mode, the transformed linear sliding surface is applied. A corresponding control input is proposed to satisfy the closed loop exponential stability and the existence condition of the sliding mode on the linear transformed sliding surface, which will be investigated in Theorem 1. For practical application, the discontinuity of the control input as the inherent property of the VSS is improved dramatically. Through a design example and simulation studies, the usefulness of the proposed controller is verified.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.76-83
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• 1996

We have developed the unconventional robot arm which is composed of the two main parts, one is a ball screw and the other is a robot arm. The dynamic systems of the robot arm and ball screw are unstable systems coupled with each other. The ball screw mechanism is unstable system but controllable system. The robot arm's dynamics is quasi stable system when ball screw's angular position is zero, else, unstable system. Our system has the duality between stability and controllability at the view point of control. This duality causes difficulty to control of the robot arm using normal control law. We have investigated the location of the characteristic roots of the dynamic equation. And we have found out that the best condition for the control of the arm is quasi stable state. In this paper, we have proposed multiple control laws which are consist of three components to guarantee the stability and controllability simultaneously. The computer simulations were carried out based on VSC about the angular position control of the robot arm, and it is confirmed that the good performances could be obtained by using new controller.

• Journal of Power Electronics
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• v.11 no.2
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• pp.148-155
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• 2011

Direct torque control(DTC) of induction machines is known to offer fast instantaneous torque and flux control with a simple control structure. However, this scheme has two major disadvantageous, namely, a variable inverter switching frequency and a high torque ripple. These problems occur due to the use of hysteresis comparators in conventional DTC schemes, particularly in controlling the output torque. This paper reviews the utilization of constant frequency torque controllers (CFTC) in DTC to solve these problems while retaining the simple control structure of DTC. Some extensions of the work in utilizing a CFTC will be carried out in this paper which can further reduce the torque ripple. This is particularly useful for a system which has a limited/low sampling frequency. The feasibility of a CFTC with an extended carrier frequency in minimizing the torque ripple is verified through experimental results.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.774-779
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• 1998

For the speed control of motors, the position or speed sensors are necessary to obtain the position information of the rotor. Specially, SRM(Switched Reluctance Motor) needs an accurate rotor position data because both the rotor and the stator have a salient pole structure. High functional sensors like resolver or encoder are expensive and have complex connecting lines to the controller so the pure signals are apt to be mixed with noised. In the sight of SRM drives, the high temperature, heavy dust, and the EMI surroundings reduce the reliability of speed and position sensors. Therefore, the speed and position sensorless control algorithms using observer have been accepted widely. In this paper An adaptive sliding observer is described to control the SRM without speed or position sensors. The adaptive sliding observer is set on the basis of variable structure control theory. The sliding surface is constructed by current error terms and this surface guarantees the errors converge to "zero". The stability of observer is affirmed by Lyapunov stability analysis and popov's hyper stability theory.ty theory.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.24 no.1
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• pp.69-78
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• 2011

In this study, an optimization method using multi-objective genetic algorithm(MOGA) has been proposed to develop a fuzzy control algorithm that can effectively control a smart tuned mass damper(TMD). A 76-story benchmark building subjected to wind load was selected as an example structure. The smart TMD consists of 100kN MR damper and the natural period of the smart TMD was tuned to the first mode natural period of the example structure. Damping force of MR damper is controlled to reduce the wind-induced responses of the example structure by a fuzzy logic controller. Two input variables of the fuzzy logic controller are the acceleration of 75th floor and the displacement of the smart TMD and the output variable is the command voltage sent to MR damper. Multi-objective genetic algorithm(NSGA-II) was used for optimization of the fuzzy logic controller and the acceleration of 75th story and the displacement of the smart TMD were used as objective function. After optimization, a series of fuzzy logic controllers which could appropriately reduce both wind responses of the building and smart TMD were obtained. Based on numerical results, it has been shown that the control performance of the smart TMD is much better than that of the passive TMD and it is even better than that of the sample active TMD in some cases.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2000.05a
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• pp.125-134
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• 2000

In this paper, we proposed a new circuit construction method that reduced the number of CMOS devices of singleton fuzzy controller(SFC) through the proposing a new membership function circuit(MFC) which uses the language variable selecting and the coefficient selecting circuit. According to the range of input values, we can choose the language variables beforehand which will be used in the inference. So we proposed the new MFC which generates the only necessary language variables. Also, we removed all rules of which adapting degree of their antecedents is zero through proposing the coefficient selecting circuit which beforehand selects the coefficients which will influence the inference result. Though this method, we simplified the structure of SFC and reduced the size of hardware. And to solve the problem in the current mode with respect to the restriction of the fan-out number, voltage-input and current-out membership function circuits are constituted of operational transconductance amplifiers. A membership function circuit which includes the language variable selecting circuit, a minimum operation circuit we implemented by current mode CMOS devices. As a result of applying proposed method, total numbers of blocks and devices wave decreased. If the number of variables and antecedents are getting larger, this method is more efficient.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2000.11a
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• pp.357-365
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• 2000

In this paper, we proposed a new circuit construction method that reduced the number of CMOS devices of singleton fuzzy controller(SFC) through the proposing a new membership function circuit(MFC) which uses the language variable selecting and the coefficient selecting circuit. According to the range of input values, we can choose the language variables beforehand which will be used in the inference. So we proposed the new MFC which generates the only necessary language variables. Also, we removed all rules of which adapting degree of their antecedents is zero through proposing the coefficient selecting circuit which beforehand selects the coefficients which will influence the inference result. Though this method, we simplified the structure of SFC and reduced the size of hardware. And to solve the problem in the current mode with respect to the restriction of the fan-out number, voltage-input and current-out membership function circuits are constituted of operational transconductance amplifiers. A membership function circuit which includes the language variable selecting circuit, a minimum operation circuit we implemented by current mode CMOS devices. As a result of applying proposed method, total numbers of blocks and devices wave decreased. If the number of variables and antecedents are getting larger, this method is more efficient.