• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.6
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• pp.730-736
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• 2016

Recent research suggests the various applications of Model Predictive Control on vehicle systems. In numerous cases, nonlinear tire models such as the Magic Formula, which are highly complex and are more detailed than necessary, are used. This paper presents a nonlinear tire model that excludes the region of negative slope but expresses the nonlinear properties of tire well enough for tracking the lane of a racing course. The proposed inverse tire model can also be used to calculate the slip angle from the tire force. Thus, the model can be utilized to design the Model Predictive Controller.

• Journal of the Korean Solar Energy Society
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• v.38 no.2
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• pp.1-13
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• 2018

This paper deals with the NREL (National Renewable Energy Laboratory) 5-MW reference wind turbine. The controller which include MPPT (Maximum power point tracking) control algorithm and tower load reduction control algorithm was designed by MATLAB Simulink. This paper propose a tower damper algorithm to improve the existing tower damper algorithm. To improve the existing tower damper algorithm, proposed tower damper algorithm were applied the thrust sensitivity scheduling and PI control method. The thrust sensitivity scheduling was calculated by thrust force formula which include thrust coefficient table. Power and Tower root moment DEL (Damage Equivalent Load) was set as a performance index to verify the load reduction algorithm. The simulation were performed 600 seconds under the wind conditions of the NTM (Normal Turbulence Model), TI (Turbulence Intensity)16% and 12~25m/s average wind speed. The effect of the proposed tower damper algorithm is confirmed through PSD (Power Spectral Density). The proposed tower damper algorithm reduces the fore-aft moment DEL of the tower up to 6% than the existing tower damper algorithm.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.686-691
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• 2001

In this paper, the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantage of good compliance, high payload-to-weight and payload-to-volume ratios, high speed and force capabilities. Using pneumatic actuators which have low stiffness, the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory, the pneumatic service robot is evaluated and verified.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.6
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• pp.553-562
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• 2015

This paper presents a strategy and an algorithm for levitation control of an over-actuated passive maglev tray system. The passive maglev tray system has more actuators than its degrees of freedom. The actuators of the system are switching when the tray travels longitudinally. Furthermore, the levitation forces of the actuators are non-homogeneous because the actuation devices are not in the moving platform. These characteristics make a limit in using conventional control approaches for levitation. For smooth actuator switching, the actuator force generation should be dependent on longitudinal positions of the tray. To enable constant pose tracking, this research introduces a control strategy and a control algorithm based on integral controllers on virtual variables. The states of the tray are estimated using a Kalman filter and fed to the proposed controller. The performances of the proposed control strategy and the algorithm are validated through tests.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.15 no.8
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• pp.708-714
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• 1990

This paper has proposed a self-tuning controller for tracking reference trajectory by measuring End-point of arm on robot manipulator whose link is light and flexibls, and proved the perforformance of the algorithm proposed through the computer simulation. As an object of control, a flexible robot manipulator with two-links was selected. As for structure of model, it utilized an assume mode shape method with include travity force and derived a dynaics equation by adapting two kinds of vibration mode of each.

• Transactions of the Society of Information Storage Systems
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• v.3 no.2
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• pp.73-80
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• 2007

Atomic Force Microscopy (AFM)방식을 이용한 Scanning probe Data Storage (SDS) 시스템은 array cantilever 를 이용하여 나노 단위로 데이터 읽기, 쓰기를 하는 시스템이다. 따라서 미디어가 있는 stage 의 x 축과 y 축 및 두 축간 coupling 을 고려한 제어기 설계가 요구된다. 본 논문은 SDS 시스템의 축간 coupling 을 고려하지 않은 기존의 제안된 LQG 에 PI 를 추가한 제어기 구조를 사용한다. 두 축간 coupling 공진의 영향을 최소화 하기 위해 convex optimization 으로 설계된 최적의 position profile를 기준 입력신호로 사용한다. 제안된 제어기를 SDS 시스템에 적용하여 모의실험을 하고 그 결과 position profile 로 인해 각 축간 coupling 공진 영향이 감소하여 tracking performance 가 기존의 LQG 제어기 보다 향상된 것을 확인한다.

• Journal of Electrical Engineering and Technology
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• v.7 no.1
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• pp.34-45
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• 2012

In the present paper, the mover speed control of a linear induction motor (LIM) using a sliding mode control design is proposed, considering the end effects. First, the indirect field-oriented control LIM is derived, considering the end effects. The sliding mode control design is then investigated to achieve speed- and flux-tracking under load thrust force disturbance. The numerical simulation results of the proposed scheme present good performances in comparison to that of the classical sliding mode control.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.4_1
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• pp.397-409
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• 2021

This study proposes a new approach to implimentation of robust control and torque control response analysis based on monitoring simulator for smart factory. According to the physical properties of a flexible manipulator, a two time-scale approach, namely, singular perturbation ap proach, is further utilized for thorough analysis and general controller design. It is shown that asymptotic motional tracking can be effectively achieved, whereas the force regulation errors can be made arbitrarily small. For demonstration of the proposed technology performance, experiments of a eight joint flexible manipulator are performed for the proposed control method, and the reliability of proposed control results are illustrated based on monitoring simulator.

• Journal of Biomedical Engineering Research
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• v.24 no.2
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• pp.127-132
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• 2003

In this paper. the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantages of good compliance , high Payload-to-weight and payload-to-volume ratios. high speed and force capabilities. Using pneumatic actuators. which have low stiffness. the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into Positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory. the Pneumatic service robot is evaluated and verified.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.6
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• pp.1141-1149
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• 1992

This paper presents a robust centralized control scheme for a magnetic bearing system which supports a rigid rotor at both shaft ends in the radial direction. The negative stiffness element and the inductive force associated with bearing magnetic field are considered in the dynamic model of the system. For this model, the controllability and observability are examined, and then a robust control theory is applied to design two types of multi-input multi-output servocontrollers. A general servocompensator is embedded in the first one and a centralized PID controller is suggested as a second one. By simulation study, the performance of two types of servocontrollers are compared in the aspects of disturbance rejection, reference tracking and the robustness limit.