• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.8-13
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• 2000

In this paper, a new adaptive cross-coupling control (CCC) method with an improved contour error model is proposed to maintain contouring precision in high-speed nonlinear contour machining. The proposed method utilizes variable controller gains based on the instantaneous curvature of a contour and the feedrate command. In addition, a real-time federate adaptation scheme is included in the proposed CCC to regulate cutting force. The proposed method is evaluated and compared with the conventional CCC for nonlinear contouring motion through computer simulations. The simulation results show that the proposed CCC improves the contouring accuracy and regulates cutting force more effectively than the existing method.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.248-255
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• 2020

This paper introduces a Feedback Linearization (FL) controller to eliminate the gyro effect on a quadrotor UAV. In order to control the attitude of the quadrotor, the second model equation was differentiated to the 4-th order to induce the control input to be revealed, and then a new control input was derived based on the attitude transformation equation with a gyro effect. For the initial quick posture control of the quadrotor, the existing yaw control was replaced with a separate controller. The simulation was conducted with an experiment in which FL control to remove the gyro effect was applied to the quadrotor and an experiment without removing the gyro effect, from the experimental results, the maximum error seen in each axial direction of the quadrotor was x = 0.22 m, y = 0.20 m, z = 0.16 m. Through the proposed method, the effect of the FL controller for controlling the gyro effect of the quadrotor was confirmed.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.8 no.1
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• pp.65-75
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• 1996

A pilot plant, which is simplified the hot water heating control system of a large scale residential building, is used to investigate the effects of control methods and operating conditions on the system performance and to compare control characteristics. Digital variable structure controller(DVSC) and digital PI controller are implemented to control the speed of the circulating pump for the pilot plant using PC. For the DVSC, a control algorithm is suggested, which using a nonlinear sliding surface and a PID sliding surface outside and inside of output error boundary layer, respectively. Smith predictor algorithm is used for the compensation of long dead time. The suggested DVSC yields improved control performance compared with existing DVSC using linear sliding surface only. the system responses with the suggested DVSC shows good responses without overshoot for various operating conditions and robust under external disturbances compared with digital PI controller.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.3
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• pp.183-192
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• 2001

In this paper, the decoupling H(sub)$\infty$ controller which minimizes the maximum energy in the output signal is designed to reduce the coupling properties between the input/output variables which make it difficult to control a system efficiently. The state-space formulas corresponding to the existing transfer matrix formulas of the controller are derived for computational efficiency. And for a given decoupling $H_{\infty}$ problem, an efficient method are sought to find the controller coefficients through the LMI(Linear Matrix Inequalities) method by which the problem is formulated into a convex optimization problem.

• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.149-151
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• 2005

Recently, power supply-demand instability due to the dramatic increase in power usage suchas air-conditioning load at summertime has brought forecasts of decrease in power supply capability. Therefore improving the load factor through systematic load management, in other words, Direct Load Control became necessary. Direct Load Control(DLC) system is kind of a load management program for stabilization of electric power supply-demand. It's purpose is limiting the demand of the demand side selected at peak load or other time periods. The paper presented a Design of Direct Load Controller for control the amount of power demand in demand side. The proposed Controller is cheaper and has ability of storing more power data than pre-existing device.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.688-693
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• 2001

It is almost impossible to have a straight web for processing in the continuous process systems. The cambered web usually causes the strip walking and damage during process. It is necessary to identify the lateral dynamics of the cambered web for the precise control of lateral behavior. In this paper, a dynamic model of the lateral behavior for a cambered web is developed by introducing the concept of steering angle equivalent to moment caused by the camber. This model can be extended to include terms associated with moment, induced by roller's tilting, web slippage, and shear force, etc. Using this model, a new feed-forward controller is proposed to enable the on-line camber estimation, which is difficult to be measured directly, and the prediction of lateral deflection caused by camber. Computer simulation study shows that the proposed controller successfully eliminates the effect of camber and has better control performance than that of the existing PID controller.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2114-2116
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• 2001

Model reduction from high order systems to low order systems in frequency domain is considered four point (${\angle}$G(jw)=0, - ${\pi}/2$, ${\pi}$, and -3${\pi}$/2) instead of two point (${\angle}$G(jw) = - ${\pi}$/2,- ${\pi}$) of existing method in Nyquist curve. The Performances of reduced order model by proposed approach is similar to original model. In this paper, we proposed a new tuning algorithm for PID controller using model reduction in frequency domain. Simulations for some examples with varies dynamic characteristics are provided to show the effectiveness of the proposed tuning algorithm for PID controller using model reduction.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.55 no.2
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• pp.62-66
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• 2006

This thesis focuses on the design of control schemes for highly efficient BLDC motor drive applications using drives with output capacity of 1Hp. The control system was designed and implemented on a PIC micro-controller and applied to an electric vehicle as a viable replacement to the existing a high phase induction motor that is currently being used for these low cost, small traction drive applications. This paper for the brushless drive research has shown the optimization of the drive system for improved drive design and switching techniques that can improve the entire drive system efficiency for electric vehicle both large and small traction applications using sinusoidal PWM techniques for synthesizing the AC waveforms needed to control these traction drives. In addition, Numerical simulation was conducted to evaluate the performance of designed BLDC Motor using MotorPro simulator.

• Journal of Korean Institute of Industrial Engineers
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• v.18 no.2
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• pp.131-140
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• 1992

The purpose of this study is to improve the performance of robot by providing visual function with robot and developing high-functioned controller and control program. The developed high-functioned controller and software have the better accuracy and flexibility in the movement of robot by complementing the existing robot controller and software problems. To provide visual function to robot, camera calibration, thresholding and contouring tools are also developed and applied in this study. These tools help robot recognize the central points and orientations of objects on work-bench.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.11a
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• pp.293-296
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• 2006

This paper presents new sufficient conditions to an intelligent digital redesign (IDR). The purpose of the IDR is to effectively convert an existing continuous-time fuzzy controller to an equivalent sampled-data fuzzy controller in the sense of the state-matching. The state-matching error between the closed-loop trajectories is carefully analyzed using the integral quadratic functional approach. The problem of designing the sampled-data fuzzy controller to minimize the state-matching error as well as to guarantee the stability is formulated and solved as the convex optimization problem with linear matrix inequality (LMI) constraints.