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PD -슬라이딩 모드 제어의 절환을 통한 강인한 SPMSM 속도 제어기 설계
손주범(Ju-Beom Son),서영수(Young-Soo Seo),이장명(Jang-Myung Lee) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.3
The paper proposes a new type of robust speed control strategy for permanent magnet synchronous motor by using PD-sliding mode hybrid control. The PD control has a good performance in the transient region while the sliding mode controller provides the robustness against system uncertainties. Taking advantages of the two control strategies, the proposed control method utilizes the PD control in the approaching region to the sliding surface and the sliding mode control near at the sliding surfaces. The chattering problem of the sliding mode controller is eliminated by applying the saturation function for the switching function of the sliding mode control. The stability of the sliding mode control is verified by using Lyapunov function with the proper selection of variable gains. It is shown that with this simple switching algorithm, stability of the overall hybrid control system is ensured. Through the simulations, the PD-sliding mode algorithm is shown to have a good performance in the transient response as well as being robust against disturbances. The robustness of the PD-sliding mode algorithm is further demonstrated against various external disturbances in the real experiments of SPMSM motor control.
고속 슬라이딩모드 관측기를 이용한 PMSM 센서리스 속도제어
손주범(Ju-Beom Son),김홍렬(Hong-Ryel Kim),서영수(Young-Soo Seo),이장명(Jang-Myung Lee) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.3
The paper proposes a sensorless speed control strategy for a PMSM (Permanent Magnet Synchronous Motor) based on a new SMO (Sliding Mode Observer), which substitutes a signum function with a sigmoid function. To apply robust sensorless control of PMSM against parameter fluctuations and disturbance, the high speed SMO is proposed, which estimates the rotor position and angular velocity from the back EMF. The low-pass filter and additional position compensation of the rotor are used to reduce the chattering problem commonly found in sliding mode observer with signum function, which becomes possible by applying the sigmoid function with the control of a switching function. Also the proposed sliding mode observer with the sigmoid function has better efficiency than the conventional sliding mode observer since it adjusts the observer gain by variable boundary layer and estimates the stator resistance. The stability of the proposed sliding mode observer is verified by the Lyapunov second method in determining the observer gain. The validity of the proposed high speed PMSM sensorless velocity control has been demonstrated by real experiments.
선박 외판 성형에서 목적 형상과 전개 평판의 최적 정합을 위한 ICP(Iterative Closest Point) 알고리즘 적용
이장현(Jang Hyun Lee),윤종성(Jong Sung Yoon),류철호(Cheolho Ryu),이황범(Hwang Beom Lee) (사)한국CDE학회 2009 한국CDE학회 논문집 Vol.14 No.2
Generally, curved surfaces of ship hull are deformed by flame bending (line heating), multi-press forming, and die-less forming method. The forming methods generate the required in-plane/bending strain or displacement on the flat plate to make the curved surface. Multi-press forming imposes the forced displacements on the flat plate by controlling the position of each pressing points based upon the shape difference between the unfolded flat plate and the curved object shape. The flat plate has been obtained from the unfolding system that is independent of the ship CAD. Apparently, the curved surface and the unfolded-flat surface are expressed by different coordinate systems. Therefore, one of the issues is to find a registration of the unfolded surface and the curved shape for the purpose of minimum amount of forming works by comparing the two surfaces. This paper presents an efficient algorithm to get an optimized registration of two different surfaces in the multi-press forming of ship hull plate forming. The algorithm is based upon the ICP (Iterative Closest Point) algorithm. The algorithm consists of two iterative procedures including a transformation matrix and the closest points to minimize the distance between the unfolded surface and curved surfaces. Thereby the algorithm allows the minimized forming works in ship-hull forming.
선박해양 구조물의 배관 자재 관리를 위한 Enterprise BOM 의 설계와 구현 사례
이장현(Lee, Jang Hyun),김승현(Kim, Seung Hyun),이황범(Lee, Hwang Beom),장기삼(Jang, Gi Sam) (사)한국CDE학회 2010 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2010 No.1
Both enterprise information systems and CAD utilizes the BOM (Bill of Material) as the means of collaborative integration during the product design and production since the BOM has been commonly used for design, production planning, procurement, and production works. Therefore, BOM can be the referential data when it expresses not only the part lists but also product information required by product development process. Outfitting design is one of major design works in marine vessel design since marine vessels have various outfitting systems and huge number of parts. Also, the outfitting BOM has the evolutional forms that change from the initial design to the production design. In order to express the product information and part list in the enterprise BOM and the evolutional BOMs in each lifecycles, enterprise BOM of outfitting that consists of structure BOM and display BOM is suggested. Thereafter, we have developed the prototype of enterprise BOM in which some features of the outfitting BOM are implemented.
고일석,이장범,조동욱,Ko Il Seok,Lee Jang Beom,Cho Dong Uk 한국정보처리학회 2005 정보처리학회논문지D Vol.12 No.3
모바일 게임 콘텐트 제작과 서비스 기술 수준의 향상은 모바일 게임 시장의 폭발적인 증가를 가져오고 있다. 현재 서비스 되고 있는 모바일 게임은 WAP 방식과 다운로드 방식을 사용하고 있다. 기존에 구현된 모바일 게임 콘텐트는 구현과정의 기술적인 문제로 인해 WAP->다운로드, 다운로드->WAP으로 이어지는 연동 콘텐트를 구현할 수 없었다. 본 연구에서는 WAP->다운로드, 다운로드->WAP로 이어지는 무무선 연동을 혼합적으로 사용한 모바일 게임 콘텐트를 설계하고 구현하였다. 제안 방식은 WAP게임과 다운로드 게임 간에 실시간으로 연동 자료를 공유함으로써 기존의 게임 콘텐트가 가질 수 없었던 랭킹과 스테이지의 연동이 가능하게 하였다. An improvement of a mobile game content production and a service technology are bringing an explosive increase of a mobile game market. Currently serviced mobile games are using a WAP method and a download method. Because of technical problems, we couldn't develop the mobile game content which sequentially linked WAP->download and download->WAP. In this study, we design and develop the mobile game content which sequentially linked WAP->download and download->WAP. In the proposed method, we can linked the stage and the ranking information as sharing a data on real time that it is impossible in the previous mobile game content.
섬과 내륙지역의 기상 환경에 따른 교미 여왕벌 생산 효율 규명
이수진(Su Jin Lee),권천락(Cheon Rak Kwon),김인석(In Seok Kim),윤광순(Gwang Sun Youn),이병일(Byeong Il Lee),이장범(Jang Beom Lee),최경(Gyeong Choi),최효열(Hyo Yeol Choi),홍호진(Ho Jin Hong) 한국양봉학회 2014 韓國養蜂學會誌 Vol.29 No.4
The ideal mating season of queen bees and the production efficiency of mating queen bees in island and inland areas were explored on an island called Wido which is 15km away from an inland region. This research was conducted so as to preserve honeybee lineages. In order to compare a mating season of queen bees on an island with that in an inland area, 10 drone colonies, 10 organized queenless colonies, and 60 queen bees were raised. The rates of grafting queen cells, the rates of oviposition, and the priod needed for the first oviposition was examined from March 26th to May 20th. In addition, with a view to find out an ideal mating season of queen bees in an island, 10 drone colonies, 10 organized queenless colonies, and 480 queen bees were raised. The rates of grafting queen cells, the rates of oviposition and the number of days needed for the first oviposition were examined on the basis of daily and monthly weather environments. Because of weather differences between island and inland areas, research on the mating season of queen bees resulted in different rates of grafting queen cells as follows; 93% on the island, and 100% in the inland area. This finding resulted from a lower temperature and stronger winds in an island. The rate of oviposition on the island was 50% and that of the inland area was 86.7%. The priod needed for the first oviposition was 21 days on the island and 10 days in an inland area, respectively, which shows a huge discrepancy between them. The first oviposition dates on the island were all on May 1st, but those in the inland area varied depending on time and seasons. As for the perfect mating season of queen bees, the rates of grafting queen cells were 91% in the first experiment, 96% in the second, and 98% in the third. Meanwhile, the rates of oviposition were 37% in the first, 63% in the second, and 71% in the third, which indicates large differences, depending on maximum temperature and wind speed. The numbers of days needed for the first oviposition were 27 days in the first, 21 days in the second, and 16 days in the third. The later dates of grafting queen cells was getting, the shorter the priod needed for the first oviposition weas. The oviposition dates were all on May 1st, as mentioned above. In conclusion, even though the rate of oviposition on the island was 36% lower than that of the inland area, islands would be better for isolated mating spaces for the purpose of preserving honeybee lineages. According to the findings of these experiments, when islands are used as isolated mating spaces, it is advisable that mating should be done under the following conditions; wind speed less than 1.5m/s, maximum temperature above 20°C and moving hives should be done after April 25th.
벌통 종류에 따른 꿀벌봉군의 내 · 외부온도 변화에 대한 비교 분석
이수진(Su Jin Lee),이장범(Jang Beom Lee),최경(Gyeong Choi),최효열(Hyo Yeol Choi),권천락(Cheon Rak Kwon) 한국양봉학회 2015 韓國養蜂學會誌 Vol.30 No.4
The time and energy consumed to keep the ideal temperature of a brood area are reduced when bee colonies have small-sized bee hive. Currently, the types of hive which are generally sold in town are quite diverse, and the types and sizes usually have influence on the fluctuations of thermal energy of bee colonies. The temperatures inside and outside of bee colonies were measured and compared based on the number of bee combs and how to organize mating colonies of each type of hive. As for wood hive, the temperature differences depending on the number of bee combs were 8.6(±2.0)℃ for two bee combs, 9.4(±2.5)℃ for four bee combs, 9.7(±2.9)℃ for six bee combs. As for styrofoam hive, 10.7(±2.9)℃ for two bee combs, 10.7(±3.2)℃ for four bee combs, 9.3(±3.1)℃ for six bee combs. The results, while bee colonies which contain two bee combs were affected by the materials of bee hive wood or styrofoam, bee colonies which contain more than four bee combs don’t get affected by the outer temperature change. The average temperature difference of inside and outside of bee colonies based on the organization of mating colonies were as follows; 11.2(±3.1)℃ for wood hive, 13.4(±4.4)℃ for styrofoam hive, 13.5(±4.4)℃ for Utopia hive, 7.0(±4.2)°C for 4-colony mating hive(4-1), 10.7(±5.5)℃ (4-2), 11.1(±5.2)℃ (4-3), 9.0(±3.7)℃ (4-4), 6.0(±1.7)℃ for styrofoam mini hive. As you see, the temperature of styrofoam hive is the highest. These experiment figures verify the fact that styrofoam hive and Utopia hive are better to use for colonies with two bee combs and mating colonies, because they are less affected by the outer temperature.