• 한국소음진동공학회논문집
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• 제22권7호
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• pp.634-641
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• 2012

This paper is concerned with the dynamic modeling for the hardware-in-the-loop simulation of lateral vibrations of a railway vehicle. The resulting dynamic model is a nine degree-of-freedom model which can describe the lateral, roll and yaw motions of the car body and two bogies. It is assumed that the external disturbances come from wheel motions. In order to test the efficacy of the model, the linear quadratic regulator and the sky-hook control algorithm were designed and applied to the model. The simulation results show that both control algorithms are effective in suppressing the vibrations of railway vehicles.

• 로봇학회논문지
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• 제19권1호
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• pp.71-78
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• 2024

The paper presents a hardware-in-the-loop (HIL) system designed for satellite movement testing in the microgravity environment on the ground with two industrial robots. Especially, the paper deals with the contact between satellites during rendezvous and docking simulations of satellites using a robotic HILS system. For this purpose, the admittance control method plays a core role in preventing damage to the satellite or robot from contact force between satellites. The coordinate frames are transformed into the mass center of the satellite and the admittance control at the level of exponential coordinates is adopted to actively use the properties of Lie groups related to tracking errors. These methods effectively mitigate the risk of robot damage during inter-satellite contact and ensure efficient tracking performance of satellite movements.

• KIEE International Transactions on Power Engineering
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• 제3A권1호
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• pp.27-34
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• 2003

In this paper, the power conditioner composed of the stand-alone single-phase squirrel cage rotor type self-excited induction generator (SEIG) driven by prime movers such as a wind turbine and a micro gas turbine (MGT) is presented by using the steady-state circuit analysis based on the two nodal admittance approaches using the per-unit frequency in addition to a new state variable defined by the per-unit slip frequency along with its performance evaluations for the stand-alone energy utilizations. The stande-alone single-phase SEIG operating performances in unregulated voltage control loop are then evaluated on line under the conditions of the speed change transients of the prime mover and the stand-alone electrical passive load power variations with the simple theoretical analysis and the efficient computation processing procedures described in the part I of this paper. In addition, a feasuible PI controlled feedback closed-loop voltage regulation scheme of the stande-alone single-phase SEIG is designed on the basis of the static VAR compensate. (SVC) and discussed in experiment for the promising stand-alone power conditioner. The experimental operating performance results are illustrated and give good agreements with the simulation ones. The simulation and experimental results of the stand-alone single-phase SEIG with the simple SVC controller for its stabilized voltage regulation prove the practical effectiveness of the additional SVC control loop scheme including the PI controller with fast response characteristics and steady-sate performance improvements.

• International Journal of Automotive Technology
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• 제8권2호
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• pp.203-209
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• 2007

As the vehicle electronic control technology quickly grows and becomes more sophisticated, a more efficient means than the traditional in-vehicle driving test is required for the design, testing, and tuning of electronic control units (ECU). For this purpose, the hardware-in-the-loop simulation (HILS) scheme is very promising, since significant portions of actual driving test procedures can be replaced by HIL simulation. The HILS incorporates hardware components in the numerical simulation environment, and this yields results with better credibility than pure numerical simulations can offer. In this study, a HILS system has been developed for ESP (Electronic Stability Program) ECUs. The system consists of the hardware component, which that includes the hydraulic brake mechanism and an ESP ECU, the software component, which virtually implements vehicle dynamics with visualization, and the interface component, which links these two parts together. The validity of HIL simulation is largely contingent upon the accuracy of the vehicle model. To account for this, the HILS system in this research used the commercial software CarSim to generate a detailed full vehicle model, and its parameters were set by using design data, SPMD (Suspension Parameter Measurement Device) data, and data from actual vehicle tests. Using the developed HILS system, performance of a commercial ESP ECU was evaluated for a virtual vehicle under various driving conditions. This HILS system, with its reliability, will be used in various applications that include durability testing, benchmarking and comparison of commercial ECUs, and detection of fault and malfunction of ESP ECUs.

• The Plant Pathology Journal
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• 제32권5호
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• pp.414-422
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• 2016

Eucalyptus dieback disease, caused by Cylindrocladium scoparium, has occurred in last few years in large Eucalyptus planting areas in China and other countries. Rapid, simple, and reliable diagnostic techniques are desired for the early detection of Eucalyptus dieback of C. scoparium prior to formulation of efficient control plan. For this purpose, three PCR-based methods of nested PCR, multiplex PCR, loop-mediated isothermal amplification (LAMP) were developed for detection of C. scoparium based on factor 1-alpha (tef1) and beta-tubulin gene in this study. All of the three methods showed highly specific to C. scoparium. The sensitivities of the nested PCR and LAMP were much higher than the multiplex PCR. The sensitivity of multiplex PCR was also higher than regular PCR. C. scoparium could be detected within 60 min from infected Eucalyptus plants by LAMP, while at least 2 h was needed by the rest two methods. Using different Eucalyptus tissues as samples for C. scoparium detection, all of the three PCR-based methods showed much better detection results than regular PCR. Base on the results from this study, we concluded that any of the three PCR-based methods could be used as diagnostic technology for the development of efficient strategies of Eucalyptus dieback disease control. Particularly, LAMP was the most practical method in field application because of its one-step and rapid reaction, simple operation, single-tube utilization, and simple visualization of amplification products.

• 조명전기설비학회논문지
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• 제28권12호
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• pp.65-73
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• 2014

In this paper, the detection scheme of the voltage variation using a two difference voltage is proposed. The conventional sag detector is from a single-phase digital phase-locked loop (DPLL) that is based on a d-q transformation using an all-pass filter (APF). The APF generates a virtual q-axis voltage component with $90^{\circ}$ phase delay but the APF cannot generate the virtual q-axis voltage depending on the phase of the grid voltage. To overcome the problem, q-axis voltage component is generated from difference between the current and previous value of d-axis voltage component in the stationary reference frame. However, the difference voltage around the zero crossing is not enough to detect the voltage sag. Therefore, the new detection scheme using the two difference voltage which can detect the sag around the zero crossing voltage is proposed.

• Smart Structures and Systems
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• 제3권2호
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• pp.189-200
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• 2007

As a functional material, shape memory alloy (SMA) has attracted much attention and research effort to explore its unique properties and its applications in the past few decades. Some of its properties, in particular the electrical resistance (ER) based self-sensing property of SMA, have not been fully studied. Electrical resistance of an SMA wire varies during its phase transformation. This variation is an inherent property of the SMA wire, although it is highly nonlinear with hysteresis. The relationship between the displacement and the electrical resistance of an SMA wire is deterministic and repeatable to some degree, therefore enabling the self-sensing ability of the SMA. The potential of this self-sensing ability has not received sufficient exploration so far, and even the previous studies in literature lack generality. This paper concerns the utilization of the self-sensing property of a spring-biased Nickel-Titanium (Nitinol) SMA actuator for two applications: ER feedback position control of an SMA actuator without a position sensor, and estimation of the opening of a SMA actuated valve. The use of the self-sensing property eliminates the need for a position sensor, therefore reducing the cost and size of an SMA actuator assembly. Two experimental apparatuses are fabricated to facilitate the two proposed applications, respectively. Based on open-loop testing results, the curve fitting technique is used to represent the nonlinear relationships between the displacement and the electrical resistance of the two SMA wire actuators. Using the mathematical models of the two SMA actuators, respectively, a proportional plus derivative controller is designed for control of the SMA wire actuator using only electrical resistance feedback. Consequently, the opening of the SMA actuated valve can be estimated without using an extra sensor.

• Journal of Power Electronics
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• 제11권2호
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• pp.120-131
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• 2011

This paper proposes two control strategies for the bidirectional Z-source inverters (BZSI) supplied by batteries for electric vehicle applications. The first control strategy utilizes the indirect field-oriented control (IFOC) method to control the induction motor speed. The proposed speed control strategy is able to control the motor speed from zero to the rated speed with the rated load torque in both motoring and regenerative braking modes. The IFOC is based on PWM voltage modulation with voltage decoupling compensation to insert the shoot-through state into the switching signals using the simple boost shoot-through control method. The parameters of the four PI controllers in the IFOC technique are designed based on the required dynamic specifications. The second control strategy uses a proportional plus resonance (PR) controller in the synchronous reference frame to control the AC current for connecting the BZSI to the grid during the battery charging/discharging mode. In both control strategies, a dual loop controller is proposed to control the capacitor voltage of the BZSI. This controller is designed based on a small signal model of the BZSI using a bode diagram. MATLAB simulations and experimental results verify the validity of the proposed control strategies during motoring, regenerative braking and grid connection operations.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.846-852
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• 2013

In this paper, the authors propose a new approach to control problem of the marine vessels which are moored or controlled by actuators. The vessel control problem in the specified area is called a DPS (Dynamic Positioning System). The main objective of this paper is to obtain more useful control design method for DPS. In this problem, a complicate fact is control allocation which is a numerical method for distributing the control signal to the controlled system. For this, many results have been given and verified by other researchers using two individual processes. It means that the controller design and control allocation design process are carried out individually. In this paper, the authors give more sophisticated design solution on this issue. In which the controller design and control allocation problem are unified by a robust controller design problem. In other word, the stability of the closed-loop system, control performance and allocation problem are unified by an LMI (Linear Matrix Inequality) constraint based on $H_2/H_{\infty}$ mixed design framework. The usefulness of proposed approach is verified by simulation with a supply vessel model and found works well.

• 전자공학회논문지
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• 제51권8호
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• pp.139-147
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• 2014

이번 연구에서는 병렬 결합된 두 개의 비동기 순차 머신에 대한 교정 제어 문제를 다룬다. 각 비동기 머신은 동일한 외부입력을 받아 서로 독립적인 상태 천이 특성을 보인다. 본 논문에서는 한 개의 교정 제어기만을 이용하여 두 개의 비동기 머신의 폐루프 시스템 동작을 각각의 기준 모델의 동작과 일치시키도록 하는 제어 방법을 제안한다. 본 방법은 교정 제어기 두 개를 사용해야 하는 기존 방법에 비해 제어기 크기 및 계산량을 줄일 수 있다. 본 논문에서는 대상 비동기 머신이 입력/상태 유형이라고 설정하고 상태 피드백 교정 제어기가 존재할 조건과 설계 과정을 제시한다. 또 예제 시스템을 통하여 제안된 기법의 적용 과정을 기술한다.