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南文鉉,金正鉉,金洛敎 建國大學校 附設 産業技術硏究所 1992 논문집 Vol.17 No.-
본 연구에서는 AR 모델을 이용한 인간의 팔운동 근전신호의 기능분리에 관한 방법을 제시하였다. 4가지 기능의 팔운동 시에 근전신호의 특성을 잘 나타낼수 있는 매개변수를 공분산범과 연속적 최소제곱 알고리즘을 이용하여 각 기능에 대한 모델의 매개변수와 적정차수를 결정하였다. 또한 팔 기능을 분류하기 위한 신뢰구간은 총합제곱오차의 평균과 표준차로 결정하였다. AR 모델의 오차를 이용하여 각 운동에 대한 기능분리를 실행한 결과 차수가 4차일 때 가장 높은 인식률을 얻을 수 있었으며, 차수가 증가할수록 인식률은 감소하였다. 따라서 본 연구의 결과는 의용생체공학이나 재활공학에 응용할 수 있으리라 기대한다. In this thesis, general method using autoregressive model in the functional separation of the myoelectric signal of human arm movements are suggested. Covariance method and sequential least squares algorithm were used to determine the model parameters and the order of signal model to describe four arm movement patterns; the forearm flexion and extension, the wrist pronation and supination. The confidence interval to classify the functions of arm movement was defined by the mean and standard deviation of total squares error. With the error signals of autoregressive(AR) model, the result showed that the highest success tate was obtained in the case of 4th order, and success rate was decreased with increase of order. This technique might be applied to biomedical-and rehabilitation-engineering.
金洛敎 건국대학교 부설 산업기술연구소 1982 논문집 Vol.7 No.-
Linear-Quadratic-State-Feedback (LQSF or LQG) regulators have attracted much attention to design the control system in recent years. Modern multiloop LQSF regulators have excellent robustness against a variety of large dynamical linear time-invariant and memoryless nonlinear time varying perturbation in open-loop dynamics. LQG regulator is designed, and analyzed the stability margin of one, and then the results are interpreted in terms of the classical criteria of gain and phase margin, thus strengthening the link between classical and modern feedback theory.
任漢錫,金洛敎 건국대학교 부설 산업기술연구소 1982 논문집 Vol.7 No.-
Chopper system has been recently employed in variable-speed DC motor drives by the manner in which the average load voltage is reduced below that of the source. The output current can be continuous or discontinuous during the operation period. When the load current becomes discontinuous, the output gain is greatly reduced and this would result in sluggish response and poor accuracy at light loads. Hence, in this paper, the transfer characteristics of a chopper system is to be investigated and the method is studied to compensate the reduction of gain.
金洛敎,崔圭夏 건국대학교 1983 學術誌 Vol.27 No.2
As the armature and the field circuit can be independently controlled in separately-excited DC motor, the former is operated by type-B chopper returning the energy to the supply and the latter by type-A chopper. In regenerative braking, the braking response characteristics are investigated under the conditions which the field current is fixed or increases proportionally with the motor speed drop by closed loop controller. The braking response characteristics can be improved by decreasing the duty cycle α and frequency f of chopper and increasing the maximum inverse current IM. And the motor can brake more rapid in the increasing field current than the case in the fixed. These results can be obtained by assuming that the armature current and the speed of motor are decayed linearly in regenerative braking operation. The experimental result obtained from oscillogram can agree with and verify these assumptions.
金洛敎 建國大學校 附設 産業技術硏究所 1989 논문집 Vol.14 No.-
It is known to us very difficult to control the system of which dynamic characteristics and system parameters are varying slowly during continuing operation. To cope with this difficulty, the state space version of Self-Tuning controller with pole-assignment is designed and investigated. For on-line identification and minimal computation, the extended least square method is used to estimate of above-mentioned system. Simulation results indicate that a Self-tuning controller has a good convergence property, small error of parameter estimation, stable output responses, and this algorithm can be applied to linear time invariant systems including the unstable and nonminimum-phase system.
센서없는 직류서보전동기의 속도 제어를 위한 적응 고이득 관측기 설계
김상훈,김락교 대한전기학회 2003 전기학회논문지 D Vol.52 No.12
-This paper deals with speed control of DC servo motor using a Adaptive high gain obserber.In this parer, the gain of the observer is properly set up using the fuzzy control and adaptive high gain observer that have a superior transient characteristic and is easy to implement compared the existing method is designed.In order to verify the performance of the Adaptive high gain observer which is proposed in this paper, it is compared estimate performance of High-gain Observer and Adaptive High Gain Observer with the computer simulation.Effectiveness of the proposed high gain observer is proved from the experiment to compare the case with a speed sensor to the case with Adaptive high gain observer in the speed control of DC servo motor.
직류 서보 전동기의 속응성 및 안정성 향상을 위한 개선된 뉴로-퍼지 제어기이 설계
강영호,김락교 대한전기학회 2002 전기학회논문지 D Vol.51 No.6
- We designed a neuro-fuzzy controller to improve some problems that are happened when the DC servo motor is controlled by a PID controller or a fuzzy logic controller. Our model proposed in this paper has the stable and accurate responses, and shortened settling time. To prove the capability of the neuro-fuzzy controller designed in this paper, the proposed controller is applied to the speed control of DC servo motor. The results showed that the proposed controller did not produce the overshoot, which happens when PID controller is used, and also it did not produce the steady state error when FLC is used. And also, it reduced the settling time about 10%. In addition, we could be aware that our model was only about 60% of the value of current peak of PID controller.