• 한국소음진동공학회논문집
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• 제20권7호
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• pp.637-643
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• 2010

The paper is about the development of 6-DOF active vibration isolation systems using VCM. Firstly, formulate the vertical 3-DOF mathematical model under eccentric load, and compare the model with the case in which the center of mass is located at the centroid. And then, complete the 6-DOF mathematical model by formulating the horizontal 3-DOF mathematical model. Find main parameters by comparing the result of the frequency response test with simulation result on the model. Finally, achieve the performance of vibration isolation by applying loop shaping approach & feedforward controller.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.368-371
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• 2003

A new accurate and reliable human-in-the-loop control by artificial neural network (ANN) for human assistance robot was proposed in this paper. The principle of human-in-the-loop control by ANN was explained including the system architecture of human assistance robot control the design of the controller the control process as well as the switching of the different control patterns. Based on the proposed method, the control of meal assistance robot was implemented. In the controller of meal assistance robote a feedforward ANN controller was designed for the accurate position control. For safety a feedback ANN forcefree control was installed in the meal assistance robot. Both controllers have taken fully into account the influence of human arm upon the meal assistance robote and they can be switched smoothly based on the external force induced by the challenged person arm. By the experimental and simulation work of this method for an actual meal assistance robote the effectiveness of the proposed method was verified.

• 대한전자공학회논문지SD
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• 제45권2호
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• pp.28-33
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• 2008

본 논문에서는 클록 손실 측정 기법을 이용한 디지털 디스플레이 인터페이스(Digital Display Interface: DDI)용 이퀄라이저를 제안한다. 제안하는 클록 손실 측정 기법은 최저 전압 유지 회로를 사용하여서 채널의 손실 정보를 추출한다. 추출된 손실 정보는 이퀄라이저 필터에 인가되며, 시스템의 안정도를 증가시키기 위해 제안된 이퀄라이저는 피드포워드 구조(Feedforward Loop)로 구현된다. 제안된 이퀄라이저는 0.18um CMOS 공정으로 제작되었으며, 실험 결과 채널 손실이 -33dB인 경우에 1.65Gbps의 신호들이 최소 0.7UI의 Eye Width를 가지게 된다. 또한 최대 10mW 이하의 전력을 소모하며, $0.127mm^2$ 의 유효면적을 차지한다.

• 전력전자학회논문지
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• 제3권3호
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• pp.231-239
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• 1998

본 논문에서는 대용량에 적합한 영전압 스위칭 전브리지 PWM 직류/직류 변한기의 동특성 해석과 제어 루프의 설계에 대해 논하였다. 전압을 제어하기 위한 위상전이제어의 효과와 영전압 스위칭을 위한 변압기의 누설인덕턴스, FET의 적합 커패시턴스의 이용효과를 고려한 소신호 모델을 유도하였다. 이 소신호 모델은 PWM 벅 변환기의 등가모델에 시비율 변조에 대한 두 개의 종속 전원을 추가함으로써 모델링할 수 있다. 소신호 해석 결과를 근거로 하여 2-극점, 1-영점 보상회로를 사용한 전압제어기를 설계하였다. 설계된 제어기의 타당성을 검증하기 위해서 개루프 시스템과 폐루프 시스템의 소신호 해석결과를 비교하였으며, 2kW급 부하실험으로 설계한 전압제어기의 동특성이 우수함을 실험적으로 입증하였다.

• 대한기계학회논문집A
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• 제24권9호
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• pp.2361-2370
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• 2000

The introduction of inexpensive cylinder pressure sensors provides new opportunities for precise engine control. This paper presents a control strategy of spark advance based upon cylinder pressure of spark ignition engines. A location of peak pressure(LPP) is the major parameter for controlling the spark timing, and also the UP is estimated, using a multi-layer feedforward neural network, which needs only five pressure sensor output voltage samples at -40˚, -20˚, 0˚, 20˚, 40˚ after top dead center. The neural network plays an important role in mitigating the A/D conversion load of an electronic engine controller by increasing the sampling interval from 10 crank angle(CA) to 20˚ CA. A proposed control algorithm does not need a sensor calibration and pegging(bias calculation) procedure because the neural network estimates the UP from the raw sensor output voltage. The estimated LPP can be regarded as a good index for combustion phasing, and can also be used as an MBT control parameter. The feasibility of this methodology is closely examined through steady and transient engine operations to control individual cylinder spark advance. The experimental results have revealed a favorable agreement of individual cylinder optimal combustion phasing.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권4호
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• pp.189-197
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• 2003

The problem of designing a parallel feedforward compensator (PFC) is considered for a class of non-square linear systems such that the closed-loop system is strictly passive. If a given square system has (vector) relative degree one and is weakly minimum phase, the system can be rendered passive by a state feedback. However, when the system states are not always measurable and the given output is considered, passivation (i.e. rendering passive) of a non-minimum phase system or a system with high relative degree cannot be achieved by any other methodologies except by using a PFC. To passivate a non-square system we first determine a squaring gain matrix and design a PFC such that the composite system has relative degree one and is minimum phase. Then the system is rendered strictly passvie by a static output feedback law. Necessary and sufficient conditions for the existence of the PFC and the squaring gain matrix are given by the static output feedback formulation, which enables to utilize linear matrix inequality (LMI). As an application of the scheme, an alternative way of replacing the role of velocity measurements is provided for the PD-control law of a convey-crane system.

• Journal of Advanced Marine Engineering and Technology
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• 제18권4호
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• pp.102-111
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• 1994

This article deals with the problem of designing a robust algorithm for the motion control of robot manipulator whose nonlinear dynamics contain various uncertainties. To ensure high performance of control system, a model-based feedforward compensation with continuous robust control has been developed. The control structure based on the deterministic approach consists of two parts : the nominal control law is first introduced to stabilize the system without uncertainties, then a robust nonlinear control law is adopted to compensate for both the resulting errors(or structured uncertainties) and unstructured uncertainties. The uncertainties assumed in this study are bounded by polynomials in the Euclidean norms of system states with known bounding coefficients. The presented control scheme is relatively simple as well as computationally efficient. With a feasible class of desired trajectories, the proposed control law provides sufficient criteria which guarantee that all possible responses of the closed-loop system are uniformly ultimately bounded in the presence of uncertainties. Therefore, the control algorithm proposed is shown to be robust with respect to the involved uncertainties.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 B
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• pp.1262-1264
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• 2003

The author Present a modified multiloop algorithm including feedforward for controlling a 45kW step down chopper in the power supply of Maglev. The control law for the duty cycle consists of three terms. The first is the feedforward term which compensates for variations in the input voltage. The second term consists of the difference between the slowly moving inductor current and output current. The third term consists of proportional and integral terms involving the perturbation in the output voltage. This perturvation is derived by subtracting the desired output voltage from the actual output voltage. The proportional and integral action stabilizes the system and minimizes output voltage error. To verify the validity of the proposed multiloop controller, simulation study was tried using Matlab/sirnulink.

• 한국전자파학회논문지
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• 제21권6호
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• pp.681-689
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• 2010

본 논문에서는 분산 소자 형태의 마이너스 군지연 회로를 이용함으로써 피드포워드 증폭기의 효율 개선 및 구현의 용이성을 증대시킬 수 있는 새로운 구조의 피드포워드 증폭기를 제안한다. 피드포워드 증폭기의 지연 소자에 의한 삽입 손실은 심각한 시스템의 효율 저하를 유발한다. 일반적으로 이러한 손실을 줄이기 위하여 고출력 동축 케이블 또는 지연 선로 여파기를 사용하지만, 그러한 소자들의 삽입 손실조차도 무시할 수 없어서 피드포워드 증폭기의 제약 사항으로 작용한다. 제안하는 마이너스 군지연 회로를 이용함으로써 광대역 선형화를 위해 혼변조 왜곡 신호 상쇄 루프에 사용되는 지연 소자를 제거할 수 있다. 중심 주파수가 2.14 GHz인 WCDMA 하향 대역에서 -9 ns의 군지연, 0.2 dB의 삽입 손실, 그리고 30 MHz의 대역폭을 갖도록 제작된 2단 분산 소자 마이너스 군지연 회로를 이용하여 제작된 제안하는 구조의 피드포워드 증폭기는 평균 출력 전력이 44 dBm 일 때 -53.2 dBc의 인접 채널 누설비(Adjacent Channel Leakage Ratio: ACLR)를, 19.4 %의 전력 부가 효율(Power Added Efficiency: PAE)을 갖는 것으로 측정되었다.

• International Journal of Automotive Technology
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• 제5권2호
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• pp.135-144
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• 2004

In this paper, the model-matching control in the longitudinal autonomous driving system is investigated by vehicle dynamics simulation, which contains nonlinear subcomponents and simplified subcomponents. The design of the robust model-matching controller is performed by the characteristics of the 2 degrees of freedom controller, which is composed of the feedforward compensator and the feedback compensator. It makes the characteristics of tractive and brake force to be equivalent to the specific transfer function, which is suggested as the reference model. Mathematical models of vehicle dynamic analysis including the model-matching control are constructed for computer simulation. Then, simple examples on open-loop simulation without any controller and closed loop simulation with the model-matching controller are applied to check the validity of the robust controller. As the practical example, the autonomous driving system in the longitudinal direction is adopted. It is proved that the model-matching control is effective and adequate to the disturbances and the perturbations, which are shown in the responses of the change of a vehicle mass and a road gradient.