• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.5
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• pp.438-444
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• 2013

This paper presents the replication of a desired vibration response by iterative learning control (ILC) system for a vibration motion replication actuator. The vibration motion replication actuator has parameter uncertainties including system nonlinearity and joint nonlinearity. Vehicle manufacturers worldwide are increasingly relying on road simulation facilities that put simulated loads and stresses on vehicles and subassemblies in order to reduce development time. Road simulation algorithm is the key point of developing road simulation system. With the rapid progress of digital signal processing technology, more complex control algorithms including iterative learning control can be utilized. In this paper, ILC algorithm was utilized to produce simultaneously the six channels of desired responses using the Stewart platform composed of six linear electro-magnetic actuators with Halbach magnet array. The convergence rate and accuracy showed reasonable results to meet the requirement. It shows that the algorithm is acceptable to replicate multi-channel vibration responses.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.1
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• pp.71-78
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• 2002

This paper is concerned with the design and implementation of magnetic damper system to reduce the vibration of suspension system actively. Cylindrical type electro-magnetic actuator with permanent magnet is analyzed and effective controller design is made. Magnetic force analyzed and transfer function for the total system is determined by experimental data using error minimization method. For experiments, simple suspension structure system is utilized, in which a magnetic damper composed of permanent magnet and digital controller is attached. In order to drive the system, bipolar power amplifier of voltage control type is utilized. Stable and high speed control board is used to perform digital control logic for the given system. This paper shows that the magnetic damper system using phase-lead controller excellently reduces vibration of 1-D.O.F (degree of freedom) suspension system.

• Proceedings of the SAREK Conference
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• 2008.06a
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• pp.895-900
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• 2008

It is the objective of the present study to conduct correlation analysis for deriving control parameters in vertical shafts using the results obtain by the design of experiments in the preceding research. The control parameters are categorized into objective parameters, derived parameters, condition parameters, operation parameters, and sensing parameters. The maximum pressure in the shaft should be sufficiently small in order to maintain exhaust hood performance. The pressure variations between floors should also be minimized in order to maintain uniform exhaust performance between floors and to save energy for excessive pressure drop in the shaft. The standard deviation based on -4Pa is proposed as an objective parameter to control pressure in shafts. The correlation equation has been obtained between the standard deviation and the sensing parameters of outdoor temperature and the pressure at the top of the shaft.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.67-77
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• 2014

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

• Transactions of The Korea Fluid Power Systems Society
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• v.7 no.4
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• pp.32-38
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• 2010

A semi-active suspension is an automotive technology that controls the vertical movement of the vehicle while the car is driving. The system therefore virtually eliminates body roll and pitch variation in many driving situations including cornering, accelerating, and braking. This technology allows car manufacturers to achieve a higher degree of both ride quality and car handling by keeping the tires perpendicular to the road in corners, allowing for much higher levels of grip and control. An onboard computer detects body movement from sensors located throughout the vehicle and, using data calculated by opportune control techniques, controls the action of the suspension. Semi-active systems can change the viscous damping coefficient of the shock absorber, and do not add energy to the suspension system. Though limited in their intervention (for example, the control force can never have different direction than that of the current speed of the suspension), semi-active suspensions are less expensive to design and consume far less energy. In recent time, the research in semi-active suspensions has continued to advance with respect to their capabilities, narrowing the gap between semi-active and fully active suspension systems. In this paper we are studied the characteristics of vehicle movement during the field test with conventional and semi-active suspension system.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.22 no.2
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• pp.70-77
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• 2010

In order to improve the efficiency of a main transformer in a train, the optimal operation of a cooling system is necessary. For the development of optimal control algorithms of a cooling system, mathematical models of a main transformer cooling system were developed. These include static and dynamic models of a main transformer, an oil pump, an oil cooler, and a blower. Static models were used to find optimal oil temperatures of the inlet and the outlet of a transformer. Dynamic models were used to predict transient performances of control algorithms of a blower and an oil pump. Simulation results showed good predictions of the static and the dynamic behavior of a main transformer cooling system. Therefore, mathematical models developed in this study may be effectively used for the development of control algorithms of a main transformer cooling system.

• Proceedings of the SAREK Conference
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• 2007.11a
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• pp.410-415
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• 2007

The optimization of back pressure chamber is one of the most important factors in designing scroll compressors, because it has a great influence on the efficiencies and other design parameters. The design process can be divided into 2 parts. One is obtaining the optimum pressure of the chamber and keeping it in constant value. And the other is finding out the minimum inflow rate of medium with which back pressure chamber is filled. In this study we are focused on the first step. At first we added a simple structure that could change back pressure without reassembling compressor. It makes the optimum back pressure be obtained. And then we devised an equipment that the back pressure control valve assembly could be independently tested with. A spring was redesigned to decrease stiffness variation. And sealing mechanism of back pressure control valve was improved to more effective way. As a result it was verified in a real mode test that back pressure variation could be stabilized within 2.3% when discharge pressure and operating frequency varied. And the integrated structure of back pressure control valve is expected to contribute to an effective manufacturing process.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.4
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• pp.281-287
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• 2016

In this paper, we propose a novel compact surveillance throwing robot which has an omnidirectional shock absorption mechanism and an active control part of wheel treads to stabilize the dynamic posture of a miniature sphere type throwing robot. This throwing robot, which weighs 1.14kg and is 110mm in height, is designed in a spherical shape to be easily grabbed for throwing. Also, the omnidirectional shock absorbing aspect is designed using several leaf springs connected with inner and outer wheels. The wheel treads control part consists of a link mechanism. Through the field experiments, this robot is validated to withstand higher than 17Ns of omnidirectional impulse and increase the stabilized max speed three times from 11 rad/s to 33rad/s by increasing wheel treads.

• The Transactions of the Korean Institute of Power Electronics
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• v.22 no.3
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• pp.256-262
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• 2017

This paper presents the control algorithm of a single-phase AC/DC/AC PWM converter for the linear compressor of a refrigerator. The AC/DC/AC converter consists of a full-bridge PWM converter for the control of the input power factor and a half-bridge PWM inverter for the control of the single-phase linear compressor. At the DC-link of this topology, two capacitors are connected in series. These DC-link voltages must be balanced for safe operation. Thus, a new control method of DC voltage balancing for the half-bridge PWM inverter is proposed. The balancing algorithm uses the Integral-Proportional controller and inserts the DC-offset current at the Proportional-Resonant current controller of the inverter to solve the DC-link unbalanced voltages between the two capacitors. The proposed algorithm can be easily implemented without much computation and additional hardware circuit. The usefulness of the proposed algorithm is verified through several experiments.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.20 no.6
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• pp.365-371
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• 2008

Condensing gas boiler units may make a big role for the reduction of energy consumption in heating industries. In order to decrease the energy consumption of a condensing gas boiler unit, effective operations of the system are necessary. In this study, mathematical models of a condensing gas boiler system were developed in order to develop control algorithms of the system. These include dynamic models of a blower, a gas valve, a pump, a burner, a boiler heat exchanger, and a hot water heat exchanger. Control algorithms of a blower, a gas valve, and a pump were also assumed. Simulation results showed good predictions of dynamic behaviors of a boiler system. Therefore, the simulation program developed for this study may be effectively used for the development of control algorithms of a boiler system.