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김천중(Cheon Joong Kim),김성수(Sung Soo Kim),유준(Joon Lyou) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
This paper presents a velocity regulation scheme for a DC motor subjected to random torque and velocity-measurement noises of white noise type as well as unknown constant load torque (bias). The scheme separately estimates an unknown bias in addition to state estimation by the bias-free Kalman Filter, and reflects the effect of the bias estimate to the armature input voltage such that velocity variations be regulated. It is shown via computer simulations that the performance of the present scheme is superior to that of the the conventional analog PI regulator.
김천중(Cheon-Joong Kim),유준(Joon Lyou) 제어로봇시스템학회 2010 제어로봇시스템학회 각 지부별 자료집 Vol.2010 No.12
Measurement time delay in the transfer alignment is very important. It has been well known that the time delay degrades the alignment performance and makes some navigation errors on the transfer alignment of SINS. Therefore there are many schemes to eliminate that time delay but the compensation technique through the estimation by Kalman filter through modeling the time delay as a random constant is generally used. In the case of change over measurement time delay or the large measurement time delay, estimation performance in the existing compensation technique is degraded because model of time delay is not correct any more. In this paper, we propose the method to keep the time delay almost constant even though in the abnormal communication state and very small through feedback compensation using double buffer. Double buffer consists of two moving window to temporarily store measurements from MINS and SINS in real time.