• 동력기계공학회지
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• 제11권3호
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• pp.66-72
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• 2007

This study proposed new method to decide the reference model necessary for design PID controller. In generally, control design problems using the reference model have the following two factors. One factor is that numerical model of the controlled system can be obtained extremely, and the other is that specification for the closed-loop dynamic performance is pure moderate. Therefore, the control design procedure is essentially based on the partial reference model matching which offers a reasonable method to simplify the design and the controller configuration under the controlled system uncertainty. ITAE(Integral of time-multiplied absolute error) performance index and Kitamori method etc. which were used a reference model method had a limit to settling time and rising time of reference model that it arrived to steady state response according to the controlled system. On this study, if it only knew peak time of overshoot and settling time by measurement signal of the controlled system, it can be made the reference model easily. We proposed new method to improve performance index of the reference model superior to existing reference model index and illustrate the numerical simulation results to show the effectiveness of proposed control method design.

• Journal of international Conference on Electrical Machines and Systems
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• 제2권1호
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• pp.120-126
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• 2013

The main aim of this paper is to expound high-efficiency operation of Switched Reluctance Generator (SRG) based on the current waveform. For this purpose, theoretical analysis of the copper loss and iron loss of the system is done first. Then, necessary simulation is done to find the variation trend of the copper loss and iron loss with the variation of the current waveform at the same output power. Finally, the best current waveform which can make the system operate with high efficiency is obtained by considering the influence of these two kinds of loss. In order to verity the simulation results, the experimental platform of DC motor-SRG is built and the modified angle position control (APC) method which can specify the current shape optionally is presented. By comparing the system efficiency at the three kinds of typical current waveform, the correctness and feasibility of the theory is verified. The proposed method is simple, reliable, and easy to achieve.

• 한국정밀공학회지
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• 제19권10호
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• pp.120-129
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• 2002

An integrated structure and controller design approach for rotating cantilever beam is presented. An optimization method is developed for improving positioning performance considering the elastic deformations during high speed rotation and adopting the beam shape and the control gains as design variables. For this end, a dynamic model is setup by the finite element method according to the shape of the beam. The mass and stiffness of the beam are distributed in such a way that the closed-loop poles of the control system should be located leftmost in the complex s-plane. For optimization method, the simulated annealing method is employed which has higher probability to find the global minimum than the gradient-based down-hill methods. Sequential design and simultaneous design methods are proposed to obtain the optimal shape and controller. Simulations are performed with new designs by the two methods to verify the effectiveness of the approach and the results show that the settling time is improved for point-to-point position controls.

• Journal of applied mathematics & informatics
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• 제30권5_6호
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• pp.699-717
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• 2012

In this paper, we deal with the robust mixed $H_2/H_{\infty}$ guaranteed-cost control problem involving uncertain neutral stochastic distributed delay systems. More precisely, the aim of this problem is to design a robust mixed $H_2/H_{\infty}$ guaranteed-cost controller such that the close-loop system is stochastic mean-square exponentially stable, and an $H_2$ performance measure upper bound is guaranteed, for a prescribed $H_{\infty}$ attenuation level ${\gamma}$. Therefore, the fast convergence can be fulfilled and the proposed controller is more appealing in engineering practice. Based on the Lyapunov-Krasovskii functional theory, new delay-dependent sufficient criteria are proposed to guarantee the existence of a desired robust mixed $H_2/H_{\infty}$ guaranteed cost controller, which are derived in terms of linear matrix inequalities(LMIs). Furthermore, the design problem of the optimal robust mixed $H_2/H_{\infty}$ guaranteed cost controller, which minimized an $H_2$ performance measure upper bound, is transformed into a convex optimization problem with LMIs constraints. Finally, two simulation examples illustrate the design procedure and verify the expected control performance.

• Journal of Power Electronics
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• 제19권4호
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• pp.1000-1010
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• 2019

The use of internal-model-based linear controller, such as resonant controller, is a well-established technique for the current control of grid-connected systems. Attractive properties for resonant controllers include their two-sequence tracking ability, the simple control structure, and the reduced computational burden. However, in the case of continuous-designed resonant controller, the transient performance is inevitably degraded at a low switching frequency. Moreover, available design methods for resonant controller is not able to realize the direct design of transient performances, and the anticipated transient performance is mainly achieved through trial and error. To address these problems, the zero-order-hold (ZOH) characteristic and inherent time delay in digital control systems are considered comprehensively in the design, and a corresponding hold-equivalent discrete model of the grid-connected converter is then established. The relationship between the placement of closed-loop poles and the corresponding transient performance is comprehensively investigated to realize the direct mapping relationship between the control gain and the transient response time. For the benefit of automatic tuning and real-time adaption, analytical expressions for controller gains are derived in detail using the required transient response time and system parameters. Simulation and experimental results demonstrate the validity of the proposed method.

• 한국정밀공학회지
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• 제12권5호
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• pp.57-68
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• 1995

A general procedure for the numerical solution of coupled, nonlinear, differential two-point boundary-value problems, solutions of which are crucial to the controller design, has been developed and demonstrated. A fixed-end-points, free-terminal-time, optimal-control problem, which is derived from Pontryagin's Maximum Principle, is solved by an extension of Davidenko's method, a differential form of Newton's method, for algebraic root finding. By a discretization process like finite differences, the differential equations are converted to a nonlinear algebraic system. Davidenko's method reconverts this into a pseudo-time-dependent set of implicitly coupled ODEs suitable for solution by modern, high-performance solvers. Another important advantage of Davidenko's method related to the time-optimal problem is that the terminal time can be computed by treating this unkown as an additional variable and sup- plying the Hamiltonian at the terminal time as an additional equation. Davidenko's method uas used to produce optimal trajectories of a single-degree-of-freedom problem. This numerical method provides switching times for open-loop control, minimized terminal time and optimal input torque sequences. This numerical technique could easily be adapted to the multi-point boundary-value problems.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.1067-1071
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• 1997

A new type of gripper for micrometer-size objects is developed using piezoelectric multi-layer benders. It is composed of three chopsticks, two of which are designed to grip micro-objects. The third one is reserved for helping the two when objects are released from the chopsticks. It is well known that a micro object is much easier to grasp than to release it after holding it. The electrostatic force between the chopsticks and an object is believed to be the main cause of adhesion in a dry environment. The surface tension becomes very important when liquids are present or in a liquid. The third auxiliary chopsticks is introduced to solve there surface effects. All the three chopsticks are made of tungsten wires with sharpened ends by etching. When grasping microparts, the two chopsticks are utilized, and, when releasing them anywhere the parts are located, the third one reduces the electrostatic force between the objects and the chopstick may be to help the other two chopsticks to hold an objects in a desired orientation. We constructed the three chopstick gripoer for micro objects and test their function by holding and releasing an object of a diameter of 100 micrometers. We make use of open loop voltage control. The bender displacement resolution is sub-micrometer. The gripping forces, about tens of mN are obtained. The experiment shows that the third auxiliary chopstick functions effectively.

• 생명과학회지
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• 제21권3호
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• pp.385-392
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• 2011

국내에 서식하는 수달의 경우 멸종 위기 I 급 종으로 지정되어 국가적인 차원에서 관리하고 있는 보호종이다. 수달의 유전자원 보호 및 체계적인 관리를 위한 기초자료로 활용하기 위해 경남지역에 서식하는 수달의 계통유전학적 유연관계를 mtDNA D-loop 지역의 염기서열분석과 MS marker 분석을 통하여 실시하였다. 그 결과 mtDNA D-loop 지역의 676 bp 부분만 보았을 때 5개의 SNP가 확인되었으며, 6개의 haplotype이 추정되었다. 진주 인근 지역과 거제도 인근 지역에서 수집한 시료는 지역 내 유전적 거리가 지역 간의 유전적 거리보다는 가까운 것을 확인 할 수 있었고, 진주와 거제도 지역 간의 유전적 거리는 확연히 구분이 되었다. MrBays의 Bayesian Markov chain Monte Carlo 분석법을 이용하여 추정한 phylogeny 분석결과 뚜렷한 2개 그룹(진주와 거제/창녕 그룹)으로 분류 되었다. Parsimonious median-joining network [5] 분석의 결과 또한 2개의 뚜렷한 그룹으로 분류되어 phylogeny 분석결과와 일치하는 결과를 보였다. MS marker를 이용하여 추정한 유전적 거리지수를 활용하여 추정한 consensus tree의 결과 또한 크게 2개의 그룹으로 분류 되며, 첫 번째 그룹에는 거제도지역 시료, 진주인근지역 시료 일부 그리고 창녕 우포늪에서 채취한 시료가 하나의 그룹으로 나뉘어 졌으며, 두 번째 그룹에는 진주인근 지역에서 채취한 시료만이 포함되어 하나의 그룹을 형성하여, mtDNA를 이용하여 분석한 것과 일부 다른 결과를 보였다. 이러한 결과의 차이는 모계를 추정하는 mtDNA와 상염색체 상의 MS marker의 특성에 기인한 것으로 보이나, 경상남도에 서식하는 수달을 크게 진주와 거제지역의 수달로 구분하는 것에는 유사한 결과를 보여 서식지 별 유전적 고정현상이 있음을 확인할 수 있었다. 하지만 좀 더 정확한 검증을 위해서는 수달의 full mtDNA 분석 및 국내에서 서식하는 수달에 적합한 MS marker발굴을 통한 대립유전자형을 분석하는 추가 연구가 필요하며, 전국 단위의 수달 시료를 확보하여 유전적 유연관계 분석을 실시한다면 한국 내 수달의 보전 및 보호에 도움이 될 것으로 사료되어 진다.

• 한국정보과학회논문지:소프트웨어및응용
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• 제37권4호
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• pp.311-316
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• 2010

Esterel은 명령형 동기언어로서, 많은 경우에 메모리, 캐쉬 컨트롤러, 버스 인터페이스 등을 개발하는데 사용하고 있다. Esterel 프로그램은 특정 상황에서 한 문장이 한 단위시간 안에 2번 이상 수행될 수 있다. 이러한 문장을 하드웨어로 컴파일 할 경우, 하나의 회로(circuit)가 한 클럭 안에 2번 수행되어 정상적으로 동작하지 않을 수 있다. 이러한 문제를 회로 중복사용(schizophrenia) 문제라고 부른다. 기존연구에서는 지역신호선언문과 병렬문만이 회로 중복사용 문제를 유발할 수 있다고 보았다. 하지만, 예외선언문에 의해 생성되는 제어 신호와 출력문이 만들어내는 데이터 신호도 회로 중복사용 문제를 유발할 수 있다. 특히, 출력문의 경우에는 기존 회로 중복사용 문제에 대한 해결책들의 출발점인 단순한 루프 펼치기(loop unrolling)로는 해결되지 않았다. 본 논문에서는 예외선언문과 출력문이 만들어 내는 2가지 새로운 회로 중복사용 문제들을 열거하고 회로 중복사용 문제를 재정의 하였다.

• 한국정보처리학회논문지
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• 제3권2호
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• pp.369-380
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• 1996

최근에 이르기까지 교통분야에서 차량에 관한 정보를 수집하기 위하여 사용되고 있는 검지쳬계는 유도식 루프검지기 (Inductive Loop Detector,ILD)이다. 유도식 검지기로 부터 수집되는 교통자료는 점유시간(차량이 검지기를 점유한시간)과 비점유시간(통행 차량과 차량간의 시간차)및 교통량이 기초 수집자료가 된다. 특히 점유 시간은 신호의 현시 길이를 결정 및 과포화제어를 위한 대기행렬예측 등 다양한 관제알고리즘에 있어서 핵심적인 자료이므로 높은 신뢰도가 요구된다. 이러한 신뢰도는 검지로 부터 수집될 수 있는 자료들을 토대로 통행 차종을 식별함으로써 향상시킬 수 있으며, 관련 관제 알고리즘의 신뢰도 향상은 물론 최근 관심이 고조되고 있는 무인자동감시 체계 및 교통정보 자동 수집장치의 개발을 유도할 수 있다. 본 논문에서는 통행하는 차량들에 대하여 수집 되는 기초자료를 기반으로 인식하기 위한 방법으로 통계적 클러스터링 방법 두 가지와 신경망 클러스터링 방법 등 세가지 방법을 제시하고, 결과로서 무인 자동감시 체계에 관한 활용 방법을 제시한다.