• 센서학회지
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• 제15권6호
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• pp.425-432
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• 2006

This paper presents a control algorithm for smart actuators that can be used in a 'steer-by-wire' system for next-generation intelligent automobiles. 'Steer-by-wire' is a network-based mechatronic steering system in which mechanical linkages and hydraulics are replaced by electric motors and a digital communication network. The algorithm is designed not only to achieve the capabilities of following the desired steering angles while minimizing the discrepancy between two steering wheels, but also to tolerate an actuator with faults. The proposed algorithm is based on a simple proportional control so that it can be implemented in real-time with a low-cost embedded microcontroller. The effectiveness of the control algorithm is examined using a hardware-in-the-loop simulator consisting of two DC motors and a CAN bus network.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.445-450
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• 1998

In this paper, a robust nonlinear prediction-type controller (RNPC) is developed for the continuous time nonlinear system whose control objective is composed of system output and its desired value. The basic control law of RNPC is derived such that the future response of the system is first predicted by appropriate functional expansions and the control law minimizing the difference between the predicted and desired responses is then calculated. RNPC which involves two controls, i.e., the auxiliary and robust controls into the basic control, shows the stable closed loop dynamics of nonlinear system of any relative degree and provides the robustness to the nonlinear system with parameter/modeling uncertainty. Simulation tests for the position control of a two-link rigid body manipulator confirm the performance improvement and the robustness of RNPC.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.186-189
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• 2003

This paper presents an optimal tuning method of the decentralized PI controller of two-input, two-output(TITO) second order system to be formulated as LQR. The tuning method of proposed decentralized PI controller is developed by establishing the relationships between the closed-loop state equation including decentralized PI control factors and the closed-loop state equation of LQR, which can be guaranteed the performance and stability-robustness by selecting the weighting factors Q and R of the cost function in order to satisfy design specifications in frequency domain.

• Journal of Communications and Networks
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• 제8권1호
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• pp.8-12
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• 2006

Master-slave (M-S) strategies implemented with chain circuits are the main option in order to distribute clock signals along synchronous networks in several telecommunication and control applications. Here, we study the two types of masterslave chains: Without clock feedback, i.e., one-way master-slave (OWMS) and with clock feedback, i.e., two-way master-slave (TWMS) considering the slave nodes as second-order phase-locked loops (PLL) for several types of loop low-pass filters.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2606-2611
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• 2003

Comprehensive study on the control system design for a RTP process has been conducted. The purpose of the control system is to maintain maximum temperature uniformity across the silicon wafer achieving precise tracking for various reference trajectories. The study has been carried out in two stages: thermal balance modeling on the basis of a semi-empirical radiation model, and optimal iterative learning controller design on the basis of a linear state space model. First, we found through steady state radiation modeling that the fourth power of wafer temperatures, lamp powers, and the fourth power of chamber wall temperature are related by an emissivity-independent linear equation. Next, for control of the MIMO system, a state space modeland LQG-based two-stage batch control technique was derived and employed to reduce the heavy computational demand in the original two-stage batch control technique. By accommodating the first result, a linear state space model for the controller design was identified between the lamp powers and the fourth power of wafer temperatures as inputs and outputs, respectively. The control system was applied to an experimental RTP equipment. As a consequence, great uniformity improvement could be attained over the entire time horizon compared to the original multi-loop PID control. In addition, controller implementation was standardized and facilitated by completely eliminating the tedious and lengthy control tuning trial.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.117-122
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• 1998

The recent developments and studies in the framework of output tracking control in the field of robotics that has been studied in the Control Laboratory, are presented. An output controller based on“Hardware-ln-the-Loop Simulation”(HILS) and“Rapid Control Prototyping”(RCP) concepts is developed using dSPACE. These new concepts are shown to be particularly beneficial for manipulator control tasks. In the Elbow manipulator design, there are two kinds of manipulators, namely the serial-drive type and the parallelogram-drive manipulator, The objective of this research is to model the two Elbow manipulators and to implement the proposed controller for manipulator applications. The control goal is to force the manipulator to follow a given trajectory in the given work space. Output controllers of the two elbow manipulators that are based on the model matching control approach have been implemented in two models that represent the robot equations of motion. To reduce the efforts in evaluating the proposed algorithm, a new system configuration method, based on HILS and RCP tools, was suggested to determine the parameters of the integrated dynamic system.

• 전력전자학회논문지
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• 제18권1호
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• pp.45-53
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• 2013

Fuel cell power system is one of the most promising energy source for the alternative energy because it has unique advantages such as high energy density, no power drop during operation, and feasible to make compact size. However, due to very low response time, fuel cell is difficult to correspond to drastic load changes and start-up operation. For solving these problem, fuel cell power system must include energy storage device such as Li-Poly battery or super capacitor. Therefore, bi-directional DC-DC converter must be required for this storage device and fuel cell-PCS control. This paper presents a design and modeling of the bi-directional DC/DC converter. Firstly, we present modeling the boost and buck mode of the bi-directional converter through both PWM switch model and state space averaging technique. Secondly, in order to minimize output ripple and transient response overshoot, we have two identical DC-DC converters interleaved and adopt two-loop voltage-current controller. The proposed bi-directional DC-DC converter's modeling method and control design have been verified with computer simulation and experimentation.

• 전자공학회논문지SC
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• 제44권1호
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• pp.74-84
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• 2007

본 논문에서는 기존의 DLL 지연 시간 잠금 범위를 확장하기 위해 새로운 이중 루프 DLL을 제안하였다. 제안한 DLL은 Coarse_loop와 Fine_loop를 포함하고 있으며, 와부 클럭과 2개의 내부 클럭 사이의 초기 시간차를 비교하여 하나의 루프를 선택하여 동작하게 된다. 2개의 내부 클럭은 VCDL의 중간 출력 클럭과 최종 출력 클럭이며 두 클럭의 위상차는 $180^{\circ}$이다. 제안한 DLL은 일반적인 잠금 범위 밖에 있을 경우 Coarse_loop를 선택하여 잠금 범위 안으로 이전 시킨 후 Fine_loop에 의하여 잠금 상태가 일어난다. 따라서 제안한 DLL은 harmonic lock이 일어나지 않는 한 항상 안정적으로 잠금 과정이 일어날 수 있게 된다. 제안한 DLL이 사용하는 VCDL은 두 개의 제어 전압을 받아 지연 시간을 조절함으로 일반적인 다 적층 currentstarved 형태의 인버터 대신에 TG 트랜지스터를 이용하는 인버터를 사용하여 지연 셀을 구성하였다. 새로운 VCDL은 종래의 VCDL에 비하여 지연시간 범위가 더욱 확장되었으며, 따라서 제안한 DLL의 잠금 범위는 기존의 DLL의 잠금 범위보다 2배 이상 확장되었다. 본 논문에서 제안한 DLL 회로는 0.18um, 1.8V TSMC CMOS 라이브러리를 기본으로 하여 설계, 시뮬레이션 및 검증하였으며 동작 주파수 범위가 100MHz${\sim}$1GHz이다. 또한, 1GHz에서 제안한 DLL의 잠금 상태에서의 최대 위상 오차는 11.2ps로 높은 해상도를 가졌으며, 이때 소비 전력은 11.5mW로 측정되었다.

• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.785-791
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• 2008

This paper considers the problem of robust $H_{\infty}$ control for uncertain 2-D discrete systems in the General Model via output feedback controllers. The parameter uncertainty is assumed to be norm-bounded. The purpose is the design of output feedback controllers such that the closed-loop system is stable while satisfying a prescribed $H_{\infty}$ performance level. In terms of a linear matrix inequality, a sufficient condition for the solvability of the problem is obtained, and an explicit expression of desired output feedback controllers is given. An example is provided to demonstrate the application of the proposed method.

• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.311-318
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• 2002

Two adaptive nonlinear friction compensation schemes are proposed for second-order nonlinear mechanical systems with a partially known nonlinear dynamic friction model to achieve asymptotic position and velocity tracking. The first scheme has auxiliary filtered states so that a simple open-loop observer can be used. The second one has a dual-observer structure to estimate two different nonlinear aspects of the friction state. Conditions for the parameter estimates to converge to the true parameter values are presented. Simulation results are utilized to show control performance and to demonstrate the convergence of the parameter estimates to their true values.