• 제어로봇시스템학회:학술대회논문집
• /
• 1994.10a
• /
• pp.359-363
• /
• 1994

In this paper the system called the inverse model compensation system is proposed as a system whose input-output transfer function can be regarded as that of a model with uncertainty in spite of including an unknown plant. And their to construct the robust model following system, which is of low sensitivity and robust stability, in order to control the inverse model compensation system is proposed. The simulation experiments show that the robust model following system including the inverse model compensation system is practical and useful as a system which controls unknown plants.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2048-2053
• /
• 2005

The aim of this paper is to compensate hysteresis phenomena in Shape Memory Alloy (SMA) actuators by using numerical inverse Preisach model. This is used to design a controller that correct hysteresis effects and improve accuracy for the displacement of SMA actuators. Firstly, hysteresis is identified by numerical Preisach model implementation. The geometrical interpretation from first order transition curves is used for hysteresis modeling. Secondly, the inverse Preisach model is formulated and incorporated in open-loop control system in order to obtain desired input-output relationship with hysteresis reducing. The experimental results for hysteresis compensation by using this method are also shown in this paper.

• Journal of Power Electronics
• /
• v.13 no.5
• /
• pp.854-860
• /
• 2013

The voltage variation problem at the point of common coupling (PCC) in a grid-connected wind turbine is investigated. The voltage variation problem is one of the most frequent power quality issues for the grid connection of large amounts of input power in a weak grid. Through the simplified modeling of the wind turbine and power network, the magnitude of PCC voltage variation is calculated by using the equivalent circuit parameters and output power of the wind turbine. The required amount of reactive power that can compensate the voltage variation is also presented analytically by using the vector diagram method. The proposed calculation and compensation method of the PCC voltage variation is verified by computer simulations and experiments.

• Proceedings of the IEEK Conference
• /
• 2008.06a
• /
• pp.457-458
• /
• 2008

This paper presents an output common mode current compensation method to achieve both constant Gm and constant gain. A conventional rail-to-rail CMOS op-amp with constant Gm was designed by using complementary differential input stage and current compensation skills. But it doesn't operate constant gain, because of output resistance variation. With $0.18{\mu}m$ CMOS process, the simulation results show that the differential gain variation can achieve less than 1.3dB. And a 60dB gain, a 13.5MHz unity gain-frequency, and 1mW power consumption, when operating at 1.8V and 10pF load.

• 전자공학회논문지 IE
• /
• v.45 no.3
• /
• pp.36-41
• /
• 2008

By considering decoupling between loops as a kind of measurable disturbance, a steady-state decoupling method based on feedforward compensation is proposed for a three-tank liquid level system often encountered in practical process control. In addition, the three-tank liquid level system's dynamic model with structure of two-input and two-output is presented according to its working principle. Finally simulation experiments given in C++Builder language demonstrate the effectiveness of the proposed method.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.49 no.10
• /
• pp.555-562
• /
• 2000

We propose an adaptive nonlinear control algorithm for compensation of the stick-slip friction in a dynamic system. The friction force and mass of the system are estimated and compensated by adaptive control law. Especially, as the nonlinear control input in a small tracking error zone is enlarged by the nonlinear function, the steady state error is significantly reduced. The proposed algorithm is a direct adaptive control method based on the Laypunov stability theory, and its convergence is guaranteed under the bounded noise or torque disturbance. We verified the performance of the proposed algorithm by computer simulation on one-DOF mechanical system with friction.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.431-431
• /
• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.6 no.2
• /
• pp.610-628
• /
• 2012

Dual carrier frequency offsets (CFOs) occur in multiple-input single-output (MISO)-mode DVB-T2 systems, where signals are transmitted simultaneously from two distributed transmitters in a single frequency network (SFN). In this paper, we first derive an optimal compensation frequency for dual CFOs. We also propose an algorithm that optimizes the compensation frequency for the MISO-mode DVB-T2 application. Its performance is compared with the conventional scheme by using a full DVB-T2 simulator.

• International Journal of Aeronautical and Space Sciences
• /
• v.14 no.4
• /
• pp.379-386
• /
• 2013

The hemispherical resonator gyroscope is a type of vibratory gyroscope, which can measure angle or angular rate, based on its operating mode. This paper deals with the case when the hemispherical resonator gyroscope is operated in angle measurement mode. In angle measurement mode, the resonator pattern angle precesses, with respect to the external rotation input, by the principle of the Coriolis effect, so that the external rotation can be estimated, by measuring the amount of precession angle. However, this pattern angle drifts, due to the manufacturing error of the resonator. Since the drift effect causes degradation of the angle estimation performance of the resonator, the corresponding drift compensation control should be performed, to enhance the estimation performance. In this paper, a mathematical model of the hemispherical resonator gyro is first introduced. By using the mathematical model, a nonlinear observer for imperfection parameter estimation, and the corresponding compensation controller are designed to operate hemispherical resonator gyros, as angle measurement sensors.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.6
• /
• pp.561-567
• /
• 2006

This paper deals with a fuzzy controller using IA(Immune Algorithm) for Trajectory Tracking of 2-DOF WMR(Wheeled Mobile Robot). The global inputs to the WMR are reference position and reference velocity, which are time variables. The global output of WMR is a current position. The tracking controller makes position error to be converged 0. In order to reduce position error, a compensation velocities on the track of trajectory is necessary. Therefore, a FIAC(Fuzzy-IA controller) is proposed to give velocity compensation in this system. Input variables of fuzzy part are position errors in every sampling time. The output values of fuzzy part are compensation velocities. IA are implemented to adjust the scaling factor of fuzzy part. The computer simulation is performed to get the result of trajectory tracking and to prove efficiency of proposed controller.