• Journal of Ocean Engineering and Technology
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• v.3 no.2
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• pp.51-58
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• 1989

In general, a remotely operated vehicle(ROV) operates at deep sea. The control system of ROV is composed of two local loops; the first loop placed on the surface vessel monitors and manipulates the attitude of the ROV using joystick, and the second part on the ROV automatically controls thrusters and acquires positional data. This paper presents a position control simulation of a ROV using an adaptive controller and discusses the control effects of two different conditions. The design of an adaptive control system is obtained by the application of a self-tuning controller with the minimization of an appropriate cost function. The parameters of the control system are estimated by a recursive least square method(RLS). In the simulation, a Runge-Kutta method is used for the numerical integration and the generated outputs are obtained by adding measurement errors. Additionally, this paper discusses the mathematical modelling of a ROV and make a survey of control systems.

• Transactions of The Korea Fluid Power Systems Society
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• v.7 no.3
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• pp.20-27
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• 2010

A vehicle suspension system performs two functions, the ride quality and the stability, which conflict with each other. An active suspension system has an external energy source, from which energy is always supplied to the system for continuous control of vehicle motion. Therefore, an active suspension system can have even more improved performance. Some control laws have been proposed for active suspension system, but in this paper, an optimal variable structure control(VSC) is proposed. The VSC method is well suited for a class of nonlinear system and can address the robustness issues to constant modelling errors and disturbances. This paper develops an optimal VSC controller and compares its performance to those of a passive suspension system and an active suspension system with an optimal controller. The transient and frequency responses are analyzed respectively.

• Transactions of The Korea Fluid Power Systems Society
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• v.5 no.2
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• pp.20-26
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• 2008

The most vehicle active suspension system is activated by a hydraulic source and transmission system which has nonlinear characteristics. Even though we have designed a proper controller for this system, it sometimes cannot show remarkable performance characteristics because of many factors that undercut the performance of the hydraulic system, such as nonlinearity, modelling errors, parameter variations etc. So, the robust controller that prevents a system from lowering its performance is needed. In this study, the sliding mode control which is the representative one of robust controllers is adopted to investigate system parameter sensibility. As a result, the sliding mode controller shows robustness to the system parameters variations relative to the other controllers.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.55-58
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• 1992

Due to the fault signal containing high and/or slowly decaying dc off-set component, saturation of current transformers cause errors in reproducing secondary current and therefore, secondary current is distorted, which cause relay to maloperate. In this paper, a new method which determines whether current transfomer is saturated is proposed. By designing digital filter of current transfomer, although secondary is distorted, exact secondary current can be reproduced.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.9
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• pp.2312-2321
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• 1994

In this work the dynamics of an electromagnetic levitation system is described by a set of three first order nonlinear ordinary differential equations. The objective is to design a digital linear controller which takes the inherent instability of the uncontrolled system and the disturbing force into consideration. The controller is made by employing digital linear quadratic(LQ) design methodology and the unknown state variables are estimated by the kalman filter. The state estimation is performed using not only an air gap sensor but also both an air gap sensor and a piezoelectric accelerometer. The design scheme resulted in a digital linear controller having good stability and performance robustness in spite of various modelling errors. In case of using both a gap sensor and an accelerometer for the state estimation, the control input was rather stable than that in a system with gap sensor only and the controller dealt with the disturbing force more effectively.

• International Journal of CAD/CAM
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• v.6 no.1
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• pp.157-166
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• 2006

In order to model blending surfaces with curvature continuity, in this paper we apply sixth order partial differential equations (PDEs), which are solved with a composite power series based method. The proposed composite power series based approach meets boundary conditions exactly, minimises the errors of the PDEs, and creates almost as accurate blending surfaces as those from the closed form solution that is the most accurate but achievable only for some simple blending problems. Since only a few unknown constants are involved, the proposed method is comparable with the closed form solution in terms of computational efficiency. Moreover, it can be used to construct 3- or 4-sided patches through the satisfaction of continuities along all edges of the patches. Therefore, the developed method is simpler and more efficient than numerical methods, more powerful than the analytical methods, and can be implemented into an effective tool for the generation and manipulation of complex free-form surfaces.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.6
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• pp.591-597
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• 1988

In this paper, we have studied a channel capacity affected by noise which produces burst errors in the ISDN(approx 140Kbps) data transmission using a existing PSTN. First, a digital communication system model to apply a subscriber line to a narrow band ISDN channel is presented. Second, the decision methodology of a channel capacity limitation whether the pdf of the noise generated by a waveform synthesizer is Pisson or Laplacian is described. As a result of the simulation, we have obtained that the Poission distributed noise is approached to the Guassian rather than the Laplacian under the same SNR condition.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.944-949
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• 1998

This paper presents a new high-performance intelligent controlled current-source (CCS) system which can compensate for modelling errors of armature resistance, leakage and magnetizing inductances and for space harmonic components of speed EMF's. A shuttle-motion simulation is presented in the mass-reduced-mode in which an equivalent vehicle weight is reduced, by 40kg to 7kg. This study provides one of the most important key-tech-nologies in driving practical linear synchronous motor (LSM) Maglev vehicle.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.263-263
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• 2000

Electromagnetic Suspension(EMS) System produces no noise, friction and heat through non-contacting operation Therefore, the applicable device using EMS system has a lot of attraction in case of the high-speed and non-contacting transmission EMS with nonlinear properties requires a precise airgap position control and stable kinematics characteristics under the disturbances, In this study, the nonlinear system was linearized by a Nonlinear Feedback Lineariztion(NFL) method. The NFL method requires that the modelling should be exact, and the state variables should be measured and a rapidly operating controller be necessary on account of a heavy data calculating In the experiments. the ideal control characteristics of the NFL was acquired through simulation at first. then the characteristics of the actual system were compared with those of simulation. In addition, the results by NFL were examined and analysed considering the characteristics of the PID control. The Control by NFL shows much stable control characteristics than the PID control. Whereas, the steady state errors occur for various disturbances. hence a robust control design is remained for a further study.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.9
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• pp.1827-1833
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• 2009

This paper deals with the trajectory tracking control of wheeled mobile robots with input constraint. The proposed method converts the trajectory tracking problem to the system stability problem using the control inputs composed of feedforward and feedback terms, and then, by using Taylor series, nonlinear terms in origin system are transformed into polynomial equations. The composed system model can make it possible to obtain the control inputs using numerical tool named as SOSTOOL. From the simulation results, the mobile robot can track the reference trajectory well and can have faster convergence rate of the trajectory errors than the existing nonlinear control method. By using the proposed method, we can easily obtain the control input for nonlinear systems with input constraint.