Mobile QR Code QR CODE : Korean Journal of Air-Conditioning and Refrigeration Engineering

  1. ๊ตญ๋ฆฝ๋ถ€๊ฒฝ๋Œ€ํ•™๊ต ๋Œ€ํ•™์› ๋ƒ‰๋™๊ณต์กฐ๊ณตํ•™๊ณผ ํ•™์ƒ (Student, Graduate School of Refrigeration and Air-conditioning Engineering, Pukyong National University, 45, Yongso-ro, Nam-gu, Busan, 48513, Korea)
  2. ๊ตญ๋ฆฝ๋ถ€๊ฒฝ๋Œ€ํ•™๊ต ๋ƒ‰๋™๊ณต์กฐ๊ณตํ•™๊ณผ ๊ต์ˆ˜ (Professor, Department of Refrigeration and Air-conditioning Engineering, Pukyong National University, 45, Yongso-ro, Nam-gu, Busan, 48513, Korea)



ํ•˜์ด๋ธŒ๋ฆฌ๋“œ ๋ชจ๋ธ ์ฐธ์กฐ ์ ์‘์ œ์–ด๊ธฐ, ๊ฐœ์„ ๋œ MIT ๊ทœ์น™, ๊ฐ•์ธ์ œ์–ด, ๊ฐ€๋ณ€์† ๋ƒ‰๋™์‹œ์Šคํ…œ
Hybrid model reference adaptive controller, Modified MIT rule, Robust control, Variable speed refrigeration system

๊ธฐํ˜ธ์„ค๋ช…

$\overline{d}$ ๏ผš ๋ถ€๋™์ž‘ ์‹œ๊ฐ„ [sec]
$e,\: E$ ๏ผš ์˜ค์ฐจ [โ„ƒ]
$f_{i}$ ๏ผš ์••์ถ•๊ธฐ ์ธ๋ฒ„ํ„ฐ ์ฃผํŒŒ์ˆ˜ [Hz]
$G$ ๏ผš ์ „๋‹ฌํ•จ์ˆ˜
$J$ ๏ผš ๋น„์šฉ(ํ‰๊ฐ€)ํ•จ์ˆ˜
$k_{i}$ ๏ผš PI ์ œ์–ด๊ธฐ์˜ ์ ๋ถ„ ๊ฒŒ์ธ
$k_{p}$ ๏ผš PI ์ œ์–ด๊ธฐ์˜ ๋น„๋ก€ ๊ฒŒ์ธ
$K$ ๏ผš DC ๊ฒŒ์ธ
$r,\: R$ ๏ผš ์„ค์ •๊ฐ’, ๋ชฉํ‘œ๊ฐ’ [โ„ƒ]
$s$ ๏ผš ๋ณต์†Œ ์—ฐ์‚ฐ์ž
$t_{s}$ ๏ผš ์ •์ฐฉ์‹œ๊ฐ„ [sec]
$T_{a}$ ๏ผš ์™ธ๊ธฐ ์˜จ๋„ [โ„ƒ]
$T_{o}$ ๏ผš ์˜ค์ผ์ถœ๊ตฌ์˜จ๋„ [โ„ƒ]
$T_{s}$ ๏ผš ๊ณผ์—ด๋„ [โ„ƒ]
$u,\: U$ ๏ผš ์กฐ์ž‘๋Ÿ‰, ์ œ์–ด์ž…๋ ฅ [Hz/step]
$v_{o}$ ๏ผš EEV ๊ฐœ๋„ ์ง€๋ น [step]
$y ,\: Y$ ๏ผš ์‹ค์ œ ํ”Œ๋žœํŠธ์˜ ์ถœ๋ ฅ, ์‘๋‹ต [โ„ƒ]
$\alpha$ ๏ผš ์ƒ์ˆ˜
$\gamma$ ๏ผš ์ ์‘ ๊ฒŒ์ธ, ํ•™์Šต๋ฅ 
$\theta$ ๏ผš ๋งค๊ฐœ๋ณ€์ˆ˜
$\tau$ ๏ผš ์‹œ์ •์ˆ˜ [sec]

ํ•˜์ฒจ์ž

$cp$ ๏ผš ์••์ถ•๊ธฐ
$d$ ๏ผš ์™ธ๋ž€
$ev$ ๏ผš ์ „์žํŒฝ์ฐฝ๋ฐธ๋ธŒ(EEV)
$i$ ๏ผš ๊ฐ„์„ญ
$m$ ๏ผš ์ฐธ์กฐ ๋ชจ๋ธ
$p$ ๏ผš ์‹ค์ œ ํ”Œ๋žœํŠธ

1. ์„œ ๋ก 

์˜ค์ผ์ฟจ๋Ÿฌ(Oil Cooler System; OCS)์™€ ๊ฐ™์€ ๋ƒ‰๊ฐ ์‹œ์Šคํ…œ์—๋Š” ์••์ถ•๊ธฐ ์ •์† ์‹œ์Šคํ…œ๊ณผ ๊ฐ€๋ณ€์† ์‹œ์Šคํ…œ์ด ์‚ฌ์šฉ๋˜๊ณ  ์žˆ๋‹ค. ์ •์† ์‹œ์Šคํ…œ์˜ ์˜จ๋„ ์ œ์–ด๋ฒ•์œผ๋กœ๋Š” ์••์ถ•๊ธฐ ์ „์› On/Off ๋ฐฉ์‹๊ณผ ํ•ซ๊ฐ€์Šค ๋ฐ”์ดํŒจ์Šค(Hot-gas Bypass; HB) ๋ฐฉ์‹์ด ์ฃผ๋กœ ์‚ฌ์šฉ๋œ๋‹ค. ํ•˜์ง€๋งŒ On/Off ๋ฐฉ์‹๊ณผ HB ๋ฐฉ์‹ ๋ชจ๋‘ ์—๋„ˆ์ง€ ํšจ์œจ ์ธก๋ฉด์—์„œ๋Š” ํšจ๊ณผ์ ์ด์ง€ ์•Š๋‹ค. ๋ฐ˜๋ฉด, ์••์ถ•๊ธฐ ๊ฐ€๋ณ€์†(Variable Speed Refrigeration System; VSRS) ์ œ์–ด ๋ฐฉ์‹์€ ์ถœ๊ตฌ ์˜จ๋„๋ฅผ ์ •๋ฐ€ํ•˜๊ฒŒ ์ œ์–ดํ•˜๊ธฐ ์œ„ํ•ด ์••์ถ•๊ธฐ ํšŒ์ „์ˆ˜์™€ ํ•จ๊ป˜ ์ „์žํŒฝ์ฐฝ๋ฐธ๋ธŒ(Electronic Expansion Valve; EEV) ๊ฐœ๋„๋ฅผ ๋™์‹œ์— ์กฐ์ ˆํ•˜๋Š” ๋ฐฉ์‹์ด๋ฉฐ ์ด๋ฅผ ํ†ตํ•ด ๋ณด๋‹ค ์ •๋ฐ€ํ•œ ์˜จ๋„ ์ œ์–ด๊ฐ€ ๊ฐ€๋Šฅํ•˜๊ณ  ๋ถ€๋ถ„ ๋ถ€ํ•˜ ์‹œ ์—๋„ˆ์ง€ ํšจ์œจ์„ ์ •์† ์‹œ์Šคํ…œ ๋Œ€๋น„ ์•ฝ 50% ์ด์ƒ ํ–ฅ์ƒ์‹œํ‚ฌ ์ˆ˜ ์žˆ๋‹ค.(1)

๊ฐ€๋ณ€์† ๋ƒ‰๋™์‹œ์Šคํ…œ๊ณผ ๊ฐ™์ด ๊ณ ์œ ์˜ ๋น„์„ ํ˜•์„ฑ๊ณผ ๊ณ ์ฐจ์˜ ๋™ํŠน์„ฑ์„ ๊ฐ–๋Š” ์ œ์–ด๋Œ€์ƒ์˜ ๊ณ ์ •๋ฐ€โ€ค๊ณ ํšจ์œจ ์ œ์–ด๋ฅผ ๋‹ฌ์„ฑํ•˜๊ธฐ ์œ„ํ•ด์„œ๋Š” ์ œ์–ด๊ธฐ๊ฐ€ ์ œ์–ด๋Œ€์ƒ(ํ”Œ๋žœํŠธ) ๋ชจ๋ธ์˜ ํŒŒ๋ผ๋ฏธํ„ฐ ๋ณ€๋™๊ณผ ๋ถˆํ™•์‹ค์„ฑ, ๊ทธ๋ฆฌ๊ณ  ์—ด๋ถ€ํ•˜ ์™ธ๋ž€ ๋“ฑ์— ๊ฐ•์ธํ•œ ์„ฑ๋Šฅ์„ ๊ฐ–๋„๋ก ์„ค๊ณ„๋˜์–ด์•ผ ํ•œ๋‹ค. ๋˜ํ•œ ์ œ์–ด๊ธฐ๋Š” ์ œ์–ด๋Œ€์ƒ์˜ ๊ฒฝ๋…„ ๋ณ€ํ™”์™€ ์šด์ „ ํ™˜๊ฒฝ ๋ณ€ํ™”์— ์ž๋™์œผ๋กœ ์ ์‘ํ•˜์—ฌ ์ œ์–ด์„ฑ๋Šฅ์„ ์ผ์ •ํ•˜๊ฒŒ ์œ ์ง€ํ•  ์ˆ˜ ์žˆ์–ด์•ผ ํ•œ๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ํ˜„์žฌ ์‚ฐ์—…๊ณ„์—์„œ ์‚ฌ์šฉํ•˜๊ณ  ์žˆ๋Š” ๋Œ€๋ถ€๋ถ„์˜ ์ œ์–ด๊ธฐ๋“ค์€ ์ œ์–ด๋Œ€์ƒ์˜ ๋ชจ๋ธ ํŒŒ๋ผ๋ฏธํ„ฐ์— ๊ธฐ๋ฐ˜ํ•ด ๊ณ ์ •๊ฐ’์œผ๋กœ ์„ค๊ณ„๋˜๋ฏ€๋กœ ๋ชจ๋ธ์˜ ์„ ํ˜•ํ™”์™€ ์ €์ฐจ์›ํ™” ๋“ฑ์— ๊ธฐ์ธํ•œ ํŒŒ๋ผ๋ฏธํ„ฐ ๋ถˆํ™•์‹ค์„ฑ์œผ๋กœ ์ธํ•ด ๊ฐ•์ธํ•˜๊ณ  ์ •๋ฐ€ํ•œ ์ œ์–ด์„ฑ๋Šฅ์„ ํ™•๋ณดํ•˜๊ธฐ๊ฐ€ ์–ด๋ ต๋‹ค.(2) ๋”ฐ๋ผ์„œ ์ด์™€ ๊ฐ™์€ ์ œ์–ด๊ธฐ๋“ค์€ ์ œ์–ด์„ฑ๋Šฅ์ด ์—ดํ™”ํ•˜์ง€ ์•Š๋„๋ก ์ฃผ๊ธฐ์ ์ธ ์œ ์ง€ ๋ณด์ˆ˜๋ฅผ ํ•ด์•ผ ํ•˜๋Š” ๋ฒˆ๊ฑฐ๋กœ์›€์ด ์žˆ๋‹ค.

๋น„์„ ํ˜• ์‹œ์Šคํ…œ์ด๋‚˜ ๋ชจ๋ธ ํŒŒ๋ผ๋ฏธํ„ฐ ๋ถˆํ™•์‹ค์„ฑ์ด ํฐ ์‹œ์Šคํ…œ์— ๋Œ€ํ•œ ๋Œ€ํ‘œ์ ์ธ ๊ฐ•์ธ์ œ์–ด๋ฒ•์œผ๋กœ Fuzzy ์ œ์–ด๋ฅผ ๋“ค ์ˆ˜ ์žˆ๋‹ค.(3) ์ด ๋ฐฉ๋ฒ•์€ ์ œ์–ด๊ธฐ๊ฐ€ ์ œ์–ด๋Œ€์ƒ์˜ ๋ชจ๋ธ์— ์˜์กดํ•˜์ง€ ์•Š์œผ๋ฉฐ, ์ œ์–ด ์˜ค์ฐจ์™€ ๊ทธ ๋ฏธ๋ถ„๊ฐ’์„ ๊ตฌํ•ด ์ „๋ฌธ๊ฐ€๊ฐ€ ์„ค๊ณ„ํ•œ ๋ฉค๋ฒ„์‹ญ ํ•จ์ˆ˜์™€ ๋ฃฐ ๋ฒ ์ด์Šค์— ๋”ฐ๋ผ ์ œ์–ด์ž…๋ ฅ์„ ๊ฒฐ์ •ํ•œ๋‹ค. ์ด๋•Œ ์ œ์–ด์ž…๋ ฅ์€ ์ œ์–ด๋Œ€์ƒ์˜ ๋ชจ๋ธ๊ณผ๋Š” ๋ฌด๊ด€ํ•˜๊ฒŒ ๊ฒฐ์ •๋˜๋ฏ€๋กœ ์ œ์–ด๋Œ€์ƒ์˜ ๊ฒฝ๋…„ ๋ณ€ํ™”๋‚˜ ์™ธ๋ž€ ๋“ฑ์— ๊ฐ•์ธํ•œ ์ œ์–ด ํŠน์„ฑ์„ ๊ฐ–๋Š”๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ๊ณ ์ •๋ฐ€ ์ œ์–ด ์‹œ, ์ œ์–ด ๋กœ์ง์ด ์ง€๋‚˜์น˜๊ฒŒ ๋ฐฉ๋Œ€ํ•ด์ง€๋Š” ๋ฌธ์ œ์ ๊ณผ ์ œ์–ด ๋กœ์ง์ด ์ „๋ฌธ๊ฐ€์˜ ๊ฒฝํ—˜๊ณผ ์ง€์‹์— ์ „์ ์œผ๋กœ ์˜์กดํ•ด ์„ค๊ณ„๋˜๋ฏ€๋กœ ๋น„์ „๋ฌธ๊ฐ€๋‚˜ ์ œ3์ž์˜ ์œ ์ง€ ๋ณด์ˆ˜๊ฐ€ ๋งค์šฐ ์–ด๋ ค์šด ๊ฒƒ์ด ๋‹จ์ ์ด๋‹ค. ๋˜ ๋‹ค๋ฅธ ๊ฐ•์ธ์ œ์–ด๋ฒ•์œผ๋กœ๋Š” ๋ชจ๋ธ์— ๊ธฐ๋ฐ˜ํ•œ ์ œ์–ด๋ฒ•์œผ๋กœ์„œ H-infinity(4)์™€ $\mu$-synthesis ์ œ์–ด(5), ์Šฌ๋ผ์ด๋”ฉ ๋ชจ๋“œ ์ œ์–ด(6) ๋“ฑ์ด ์žˆ๋‹ค. H-infinity์™€ $\mu$-synthesis ์ œ์–ด๋Š” ์ œ์–ด์„ฑ๋Šฅ์€ ์šฐ์ˆ˜ํ•˜๋‚˜ ์‹œ๊ฐ„ ์˜์—ญ๊ณผ ์ฃผํŒŒ์ˆ˜ ์˜์—ญ์˜ ํ•ด์„์ด ๋™์‹œ์— ํ•„์š”ํ•ด ์ œ์–ด๊ธฐ ์„ค๊ณ„์™€ ์ดํ•ด๊ฐ€ ์–ด๋ ต๊ณ , ํ˜„์žฅ ์—”์ง€๋‹ˆ์–ด๋“ค์ด ์œ ์ง€ ๋ณด์ˆ˜ํ•˜๊ธฐ๊ฐ€ ์‰ฝ์ง€ ์•Š๋‹ค. ํ•œํŽธ ์Šฌ๋ผ์ด๋”ฉ ๋ชจ๋“œ ์ œ์–ด๋Š” ์ตœ์  ์ดˆํ‰๋ฉด(Hyper plane) ์„ค๊ณ„๊ฐ€ ์–ด๋ ต๊ณ , ๋ถˆ์—ฐ์† ์ œ์–ด์ž…๋ ฅ์„ ์ด์šฉํ•˜๋Š” ํƒ“์— ์ œ์–ด๋Ÿ‰์— ์ฑ„ํ„ฐ๋ง์ด ๋ฐœ์ƒํ•˜๋Š” ๋ฌธ์ œ์ ์ด ์žˆ๋‹ค. ์ด๋Ÿฐ ๊นŒ๋‹ญ์— ์˜จ๋„๋‚˜ ์••๋ ฅ๊ณผ ๊ฐ™์€ ๋ฌผ๋ฆฌ๋Ÿ‰์„ ์ œ์–ดํ•˜๋Š” ํ”„๋กœ์„ธ์Šค(Process)์ œ์–ด์—์„œ๋Š” ์ œ์–ด ๋กœ์ง์˜ ์ดํ•ด์™€ ์„ค๊ณ„๊ฐ€ ์‰ฝ๊ณ , ์œ ์ง€ ๋ณด์ˆ˜๊ฐ€ ์šฉ์ดํ•˜๋ฉฐ ์ œ์–ด์„ฑ๋Šฅ์ด ์šฐ์ˆ˜ํ•œ PID(Proportional-Integral-Derivative) ์ œ์–ด๊ฐ€ ๊ฐ€์žฅ ๋„๋ฆฌ ์‚ฌ์šฉ๋˜๊ณ  ์žˆ๋‹ค. ํ•˜์ง€๋งŒ, PID ์ œ์–ด๊ธฐ๋Š” ์„ ํ˜•ํ™”๋œ ์ „๋‹ฌํ•จ์ˆ˜ ๋ชจ๋ธ์˜ ํŒŒ๋ผ๋ฏธํ„ฐ์— ์˜์กดํ•ด ์„ค๊ณ„๋˜๋ฏ€๋กœ ์•ž์„œ ์–ธ๊ธ‰ํ•œ ๋ฐ”์™€ ๊ฐ™์ด ๊ฐ•์ธํ•˜๊ณ  ์ •๋ฐ€ํ•œ ์ œ์–ด์„ฑ๋Šฅ ํ™•๋ณด๊ฐ€ ์–ด๋ ค์šฐ๋ฉฐ ์ œ์–ด์„ฑ๋Šฅ์˜ ์—ดํ™”๋ฅผ ๋ฐฉ์ง€ํ•˜๊ธฐ ์œ„ํ•ด ์ฃผ๊ธฐ์ ์ธ ์œ ์ง€ ๋ณด์ˆ˜๋ฅผ ํ•„์š”๋กœ ํ•œ๋‹ค.

๋”ฐ๋ผ์„œ ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ๋ชจ๋ธ์˜ ๋ถˆํ™•์‹ค์„ฑ๊ณผ ์™ธ๋ž€ ์ธ๊ฐ€, ๊ทธ๋ฆฌ๊ณ  ์ œ์–ด๋Œ€์ƒ์˜ ๊ฒฝ๋…„ ๋ณ€ํ™”๋‚˜ ์šด์ „ ํ™˜๊ฒฝ ๋ณ€ํ™”์— ์ž๋™์œผ๋กœ ๋Œ€์‘ํ•ด ์ œ์–ด์„ฑ๋Šฅ ์—ดํ™”์— ๋”ฐ๋ฅธ ์ œ์–ด๊ธฐ์˜ ์œ ์ง€ ๋ณด์ˆ˜ ํ•„์š”์„ฑ์ด ์—†๋Š” ์ ์‘์ œ์–ด๊ธฐ๋ฅผ ์„ค๊ณ„ํ•œ๋‹ค. ๋ณธ ๋…ผ๋ฌธ์—์„œ ์„ค๊ณ„ํ•˜๋Š” ์ ์‘์ œ์–ด๊ธฐ๋Š” ์ œ์–ด๋Œ€์ƒ ๋ชจ๋ธ์˜ ํŒŒ๋ผ๋ฏธํ„ฐ ๋Œ€์‹  ์ œ์–ด ์˜ค์ฐจ ์ •๋ณด๋ฅผ ๊ธฐ๋ฐ˜์œผ๋กœ ์„ค๊ณ„๋˜๋ฏ€๋กœ ๋ชจ๋ธ ํŒŒ๋ผ๋ฏธํ„ฐ์˜ ๋ถˆํ™•์‹ค์„ฑ์ด๋‚˜ ์™ธ๋ž€ ๋“ฑ์— ์›์ฒœ์ ์œผ๋กœ ๊ฐ•์ธํ•œ ์ œ์–ด์„ฑ๋Šฅ์„ ๊ฐ–๋Š”๋‹ค. ํŠนํžˆ ๋ณธ ์—ฐ๊ตฌ์—์„œ๋Š” ์ ์‘์ œ์–ด ๊ธฐ๋ฒ• ์ค‘์—์„œ ํ˜„์žฌ ๋„๋ฆฌ ์‚ฌ์šฉ๋˜๊ณ  ์žˆ๋Š” ๋ชจ๋ธ ์ฐธ์กฐ ์ ์‘์ œ์–ด๊ธฐ(Model Reference Adaptive Controller; MRAC)๋ฅผ ์„ค๊ณ„ํ•œ๋‹ค.(7) ์ด ์ œ์–ด๊ธฐ๋Š” ํ”Œ๋žœํŠธ๊ฐ€ ๋ฐ”๋žŒ์งํ•œ ์‘๋‹ต์„ ๊ฐ–๋„๋ก ์ฐธ์กฐ ๋ชจ๋ธ์„ ์ œ์‹œํ•˜๊ณ , ์ด ๋ชจ๋ธ์˜ ์ถœ๋ ฅ๊ฐ’๊ณผ ์‹ค์ œ ํ”Œ๋žœํŠธ ์ถœ๋ ฅ๊ฐ’์˜ ์ฐจ๊ฐ€ ์ตœ์†Œ๋กœ ๋˜๋Š” ์กฐ์ž‘๋Ÿ‰์ด ์‚ฐ์ถœ๋˜๋„๋ก ์ œ์–ด๊ธฐ๋ฅผ ์„ค๊ณ„ํ•œ๋‹ค.(8) ๊ธฐ์กด์˜ MRAC ์—ฐ๊ตฌ๋Š” ์ฃผ๋กœ ํ™˜๊ฒฝ ๋ณ€ํ™”๊ฐ€ ์‹ฌํ•œ ํ•ญ๊ณต๊ธฐ์˜ ์œ„์น˜์ œ์–ด๋‚˜ ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ์ด ์ž‘์€ DC๋ชจํ„ฐ, BLDC๋ชจํ„ฐ๋ฅผ ์ œ์–ด๋Œ€์ƒ์œผ๋กœ ์†๋„ ์ œ์–ด๋ฅผ ํ•œ ๊ฒฝ์šฐ๊ฐ€ ๋Œ€๋ถ€๋ถ„์ด๋‹ค.(9-10) MRAC์„ VSRS์— ์ ์šฉํ•œ ์ผ๋ถ€ ์—ฐ๊ตฌ๋“ค์€ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๊ฒฐ๊ณผ์—์„œ ์ธ๋ฒ„ํ„ฐ ์ฃผํŒŒ์ˆ˜ ์กฐ์ž‘๋Ÿ‰์ด ๋ถˆ๋ช…ํ™•ํ•˜๊ณ , ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ๊ณผ ์™ธ๋ž€์— ๋Œ€ํ•œ ์ œ์–ด ๊ฐ•์ธ์„ฑ(Robustness) ๋ถ„์„๋„ ๋ถ€์กฑํ•˜์˜€๋‹ค.(11-12) ๋”ฐ๋ผ์„œ ๋ณธ ์—ฐ๊ตฌ์—์„œ๋Š” ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ๊ณผ ์™ธ๋ž€ ๋ณ€๋™์ด ํฐ VSRS ๊ธฐ๋ฐ˜์˜ OCS๋ฅผ ๋Œ€์ƒ์œผ๋กœ ์„ค์ •๊ฐ’์— ์—„๋ฐ€ํžˆ, ๊ทธ๋ฆฌ๊ณ  ์‹ ์†ํžˆ ์ถ”์ข…ํ•˜๋Š” ์„œ๋ณด ์ œ์–ด๊ณ„๋ฅผ ๊ตฌํ˜„ํ•˜๊ธฐ ์œ„ํ•ด ๊ฐœ์„ ๋œ MIT ๊ทœ์น™์— ๊ธฐ๋ฐ˜ํ•œ ๋ชจ๋ธ ์ฐธ์กฐ ์ ์‘์ œ์–ด๊ธฐ(H-MRAC)๋ฅผ ์„ค๊ณ„ํ•œ๋‹ค. ์ œ์•ˆ๋œ ๋ฐฉ์‹์€ ๋ชจ๋ธ์˜ ํŒŒ๋ผ๋ฏธํ„ฐ์— ์˜์กดํ•˜์ง€ ์•Š๋Š” ์ ์‘์ œ์–ด๊ธฐ๋กœ ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ๊ณผ ์™ธ๋ž€ ๋ณ€๋™์— ๊ฐ•์ธํ•œ ์ œ์–ด์„ฑ๋Šฅ์„ ๊ฐ–๋„๋ก ์„ค๊ณ„๋˜์–ด ์ œ์–ด๋Œ€์ƒ ์ž์ฒด์˜ ๊ฒฝ๋…„ ๋ณ€ํ™”๋‚˜ ์ฃผ๋ณ€ ํ™˜๊ฒฝ ๋ณ€ํ™”์—๋„ ์ œ์–ด๊ธฐ์˜ ์ฃผ๊ธฐ์ ์ธ ์œ ์ง€ ๋ณด์ˆ˜ ํ•„์š” ์—†์ด ์ •๋ฐ€ํ•œ ์˜จ๋„์ œ์–ด๊ฐ€ ๊ฐ€๋Šฅํ•จ์„ ๋ณด์ธ๋‹ค. ๋˜ํ•œ, ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜์„ ํ†ตํ•ด ์กฐ์ž‘๋Ÿ‰์„ ๋ช…ํ™•ํžˆ ํ•จ๊ณผ ๋™์‹œ์— ์ œ์•ˆ๋œ ๋ฐฉ์‹์˜ ํƒ€๋‹น์„ฑ์„ ์ž…์ฆํ•˜๊ณ , ๋ฒ”์šฉ์˜ PI ์ œ์–ด์™€์˜ ์ œ์–ด์„ฑ๋Šฅ ๋น„๊ต๋ฅผ ํ†ตํ•ด ๊ทธ ์œ ํšจ์„ฑ์„ ํ™•์ธํ•œ๋‹ค.

2. ํ•˜์ด๋ธŒ๋ฆฌ๋“œ ๋ชจ๋ธ ์ฐธ์กฐ ์ ์‘์ œ์–ด๊ธฐ(H-MRAC) ์„ค๊ณ„

2.1 ์‹คํ—˜ ์žฅ์น˜

Fig. 1์€ H-MRAC์„ ์ ์šฉํ•  ์ œ์–ด๋Œ€์ƒ์ธ VSRS ๊ธฐ๋ฐ˜ OCS์˜ ๊ตฌ์„ฑ๋„์ด๋‹ค. OCS๋Š” ์ •๋ฐ€ ๊ณต์ž‘๊ธฐ๊ณ„์˜ ๊ณต์ž‘๋ฌผ ๊ฐ€๊ณต ์ž‘์—… ์ค‘ ๋ฐœ์ƒํ•˜๋Š” ๊ณผ๋„ํ•œ ์—ด์„ ๋ƒ‰๊ฐ๋œ ์˜ค์ผ๋กœ ์‹ ์†ํžˆ ์ œ๊ฑฐํ•ด ๊ณต์ž‘๋ฌผ์˜ ์—ด๋ณ€ํ˜•์„ ์ตœ์†Œํ™”ํ•จ์œผ๋กœ์จ ๊ณต์ž‘๋ฌผ์˜ ๊ฐ€๊ณต ์ •๋ฐ€๋„๋ฅผ ํ™•๋ณดํ•˜๊ธฐ ์œ„ํ•œ ์žฅ์น˜์ด๋‹ค. ์ด ์žฅ์น˜๋Š” ํฌ๊ฒŒ ๊ตฌ๋ถ„ํ•˜๋ฉด, VSRS, ๊ณต์ž‘๊ธฐ๊ณ„์˜ ์—ด๋ถ€ํ•˜๋ฅผ ๋ชจ์‚ฌํ•˜๊ธฐ ์œ„ํ•œ ์ „๊ธฐํžˆํ„ฐ, ์ œ์–ด๋ถ€๋กœ ๊ตฌ์„ฑ๋œ๋‹ค. VSRS๋Š” ๊ฐ€๋ณ€์† ์••์ถ•๊ธฐ(VSC), ์ „์žํŒฝ์ฐฝ๋ฐธ๋ธŒ(EEV), ๊ทธ๋ฆฌ๊ณ  ์—ด๊ตํ™˜๊ธฐ์ธ ์‘์ถ•๊ธฐ์™€ ์ฆ๋ฐœ๊ธฐ๋กœ ์ด๋ฃจ์–ด์ง€๋ฉฐ, ์˜ค์ผ์ถœ๊ตฌ์˜จ๋„ $T_{o}$์™€ ๊ณผ์—ด๋„ $T_{s}$๋ฅผ ์ œ์–ดํ•˜๊ธฐ ์œ„ํ•ด ๊ฐ๊ฐ VSC์˜ ํšŒ์ „ ์†๋„์™€ EEV์˜ ๊ฐœ๋„๋ฅผ ์ œ์–ดํ•œ๋‹ค. ์ œ์–ด๋ถ€๋Š” Matlab/Simulink ๊ธฐ๋ฐ˜์˜ ์‹ค์‹œ๊ฐ„ ์ œ์–ด๊ธฐ(Real Time Controller; RTC), ์••์ถ•๊ธฐ์˜ ํšŒ์ „์ˆ˜์™€ EEV์˜ ๊ฐœ๋„๋ฅผ ์ œ์–ดํ•˜๊ธฐ ์œ„ํ•œ ์กฐ์ž‘๊ธฐ(Actuator)๋กœ ๊ตฌ์„ฑ๋œ๋‹ค. ์••์ถ•๊ธฐ์˜ ํšŒ์ „์ˆ˜๋ฅผ ๊ฐ€๋ณ€ํ•˜๊ธฐ ์œ„ํ•œ ์ธ๋ฒ„ํ„ฐ ์ฃผํŒŒ์ˆ˜ $f_{i}$์™€ EEV ๊ฐœ๋„(Opening angle) ์ง€๋ น $v_{o}$๋Š” RTC์˜ CPU์—์„œ ์„ค๊ณ„์‚ฌ์–‘์œผ๋กœ๋ถ€ํ„ฐ ์ฃผ์–ด์ง€๋Š” ์„ค์ •๊ฐ’๊ณผ ์ œ์–ด์žฅ์น˜์— ๋ถ€์ฐฉ๋œ ์˜จ๋„ ์„ผ์„œ๋กœ๋ถ€ํ„ฐ ํš๋“ํ•œ $T_{o}$์™€ $T_{s}$์˜ ์ถœ๋ ฅ ์ •๋ณด๋ฅผ ๋ฐ”ํƒ•์œผ๋กœ ์„ค๊ณ„๋œ ํ•˜์ด๋ธŒ๋ฆฌ๋“œ ๋ชจ๋ธ ์ฐธ์กฐ ์ ์‘์ œ์–ด ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ํ†ตํ•ด ์—ฐ์‚ฐ๋œ๋‹ค. CPU์—์„œ ์—ฐ์‚ฐ๋œ ๋””์ง€ํ„ธ ์ œ์–ด ์‹ ํ˜ธ๋Š” I/O ๋ชจ๋“ˆ์˜ D/A ๋ณ€ํ™˜์„ ๊ฑฐ์ณ ์•„๋‚ ๋กœ๊ทธ ์ „์•• ํ˜•ํƒœ๋กœ ๋ณ€ํ™˜๋œ ํ›„ ์ธ๋ฒ„ํ„ฐ(Inverter) ๋ฐ EEV ๋“œ๋ผ์ด๋ธŒ์— ๊ฐ๊ฐ ์ž…๋ ฅ๋œ๋‹ค. Table 1์€ ์ด ์žฅ์น˜์˜ ์ฃผ์š” ์‚ฌ์–‘์„ ๋‚˜ํƒ€๋‚ธ๋‹ค.

Table 1 Specifications of the VSRS, actuator and peripheral devices for OCS

Component

Note

Compressor

Rotary type, 30-90[Hz], 0.86[kW]

EEV

400~2,000[step], 12[V]

Condenser

Air-cooled fin and tube type, 5.24[kW]

Evaporator

Bare tube coil type, 2.1[kW](max.)

Refrigerant

R-22, 0.75[kg]

Inverter

4.5[kVA], 3-phase, PWM, V/f= type

EEV drive

4[W], 24[V], Bipolar type

Electric Heater

1.6[kW]

Oil tank

Immersion type, 40 40 38.5[cm]

Oil

ISO VG 10, Velocite oil No. 6, 40[โ„“]

Fig. 1 Experimental system for a OCS control.

../../Resources/sarek/KJACR.2025.37.5.245/fig1.png

2.2 H-MRAC ์„ค๊ณ„

Fig. 2๋Š” ๊ธฐ์กด์˜ MRAC๊ณผ ๋ณธ ๋…ผ๋ฌธ์—์„œ ์ œ์•ˆํ•˜๋Š” PI ์ œ์–ด๊ธฐ๊ฐ€ ์ถ”๊ฐ€๋œ H-MRAC์˜ ๊ตฌ์„ฑ๋„์ด๋‹ค. Fig. 2(a)๋Š” ๊ธฐ์กด์˜ MRAC ๊ตฌ์„ฑ๋„๋กœ์„œ ์ ์ƒ‰ ์ ์„  ๋‚ด๋ถ€์˜ ์ฐธ์กฐ ๋ชจ๋ธ $G_{m}(s)$, ์‹ค์ œ ํ”Œ๋žœํŠธ(์ดํ•˜ ํ”Œ๋žœํŠธ) $G_{p}(s)$, ์ ์‘์ œ์–ด (์ดํ•˜ ์ ์‘) ์•Œ๊ณ ๋ฆฌ์ฆ˜ $C(s)$๋กœ ๊ตฌ์„ฑ๋œ๋‹ค. Fig. 2(b)๋Š” H-MRAC ๊ตฌ์„ฑ๋„๋กœ์„œ ์ฐธ์กฐ ๋ชจ๋ธ๊ณผ ํ”Œ๋žœํŠธ์— ๊ฐ๊ฐ PI ์ œ์–ด๊ธฐ๊ฐ€ ์ถ”๊ฐ€๋œ ํ•˜์ด๋ธŒ๋ฆฌ๋“œ ํ˜•ํƒœ์ด๋‹ค.

Fig. 2(a)๋Š” ์˜ค์ฐจ $E(s)$$\left(=Y(s)- Y_{m}(s)\right)$๋ฅผ 0์œผ๋กœ ๋งŒ๋“ค ์ˆ˜๋Š” ์žˆ์œผ๋‚˜ ์ถœ๋ ฅ๊ฐ’ $Y(s)$๋ฅผ ๋‹ค์–‘ํ•œ ์„ค์ •๊ฐ’ $R(s)$๋กœ ์ถ”์ข…์‹œํ‚ค๋Š” ์„œ๋ณด ์ œ์–ด์šฉ์œผ๋กœ๋Š” ์ ํ•ฉํ•˜์ง€ ์•Š๋‹ค. ๋”ฐ๋ผ์„œ Fig. 2(b)์™€ ๊ฐ™์ด ์ฐธ์กฐ ๋ชจ๋ธ๊ณผ ํ”Œ๋žœํŠธ์˜ ์ „๋‹ฌํ•จ์ˆ˜ ์•ž์— PI ์ œ์–ด๊ธฐ๋ฅผ ์ถ”๊ฐ€ํ•˜์—ฌ ์„ค๊ณ„์ž๊ฐ€ ์›ํ•˜๋Š” ๊ฑฐ๋™์„ ๊ฐ•์ œํ•จ์œผ๋กœ์จ ์„ค์ •๊ฐ’์— ์—„๋ฐ€ํžˆ ์ถ”์ข…ํ•˜๋Š” ์„œ๋ณด ์ œ์–ด๋ฅผ ์‹คํ˜„ํ•œ๋‹ค. ์ ์‘ ์•Œ๊ณ ๋ฆฌ์ฆ˜์œผ๋กœ๋Š” Lyapunov ๋ฐฉ์‹๊ณผ MIT ๊ทœ์น™์ด ๋Œ€ํ‘œ์ ์ด๋ฉฐ ๋ณธ ๋…ผ๋ฌธ์—์„œ๋Š” ์˜ค์ฐจ ๊ธฐ๋ฐ˜์˜ ๋น„์šฉํ•จ์ˆ˜๋ฅผ ์ตœ์†Œํ™”ํ•˜๋Š” MIT ๊ทœ์น™์„ ์‚ฌ์šฉํ•˜์˜€๋‹ค.(13) H-MRAC์˜ ์ ์‘ ์•Œ๊ณ ๋ฆฌ์ฆ˜์˜ ์ถœ๋ ฅ์ธ ๋งค๊ฐœ๋ณ€์ˆ˜ $\theta(s)$๋Š” ์ œ์–ด๋Œ€์ƒ ๋ชจ๋ธ์˜ ํŒŒ๋ผ๋ฏธํ„ฐ์— ์˜์กดํ•˜์ง€ ์•Š์œผ๋ฉฐ, ์ฐธ์กฐ ๋ชจ๋ธ์˜ ์ถœ๋ ฅ๊ฐ’ $Y_{m}(s)$์™€ ๋‘ ๋ชจ๋ธ์˜ ์ถœ๋ ฅ๊ฐ’์˜ ์ฐจ $E(s)$๋กœ ๊ฒฐ์ •๋˜๋ฏ€๋กœ ์ œ์–ด๋Œ€์ƒ ๋ชจ๋ธ์˜ ํŒŒ๋ผ๋ฏธํ„ฐ ๋ณ€๋™์ด๋‚˜ ์—ด๋ถ€ํ•˜ ๋ณ€๋™ ๋“ฑ์˜ ์™ธ๋ž€์— ๊ฐ•์ธํ•œ ์ œ์–ด์„ฑ๋Šฅ์„ ๊ฐ–๋Š”๋‹ค.

Fig. 2 Block diagram of basic MRAC and the suggested H-MRAC.

../../Resources/sarek/KJACR.2025.37.5.245/fig2.png

์„ค์ •๊ฐ’์„ ์—„๋ฐ€ํžˆ ์ถ”์ข…ํ•˜๋Š” H-MRAC์˜ ์„œ๋ณด ์ œ์–ด๊ณ„์—์„œ๋Š” ์˜ค์ฐจ $E(s)$๋ฅผ ํ”Œ๋žœํŠธ์™€ ์ฐธ์กฐ ๋ชจ๋ธ์˜ ์ถœ๋ ฅ ์ฐจ๋กœ $t-$๊ณต๊ฐ„์—์„œ๋Š” ์‹(1)๊ณผ ๊ฐ™์ด ์ •์˜ํ•œ๋‹ค.

(1)
$e(t)=y(t)-y_{m}(t)$

์ด ์˜ค์ฐจ๋ฅผ ์ตœ์†Œํ™”ํ•˜๊ธฐ ์œ„ํ•œ ๋น„์šฉ(ํ‰๊ฐ€)ํ•จ์ˆ˜ $J(\theta)$๋Š” ์‹(2)์™€ ๊ฐ™์ด ์„ค์ •๋œ๋‹ค.(8) $J(\theta)$๋Š” ๊ฐ„์ ‘์ ์œผ๋กœ $\theta$์˜ ํ•จ์ˆ˜์ด๋ฉฐ, ์—ฌ๊ธฐ์„œ $\theta$๋Š” ์ œ์–ด์ž…๋ ฅ $U(s)$์— ์‚ฌ์šฉ๋  ๋งค๊ฐœ๋ณ€์ˆ˜์ด๋‹ค.

(2)
$J(\theta)=\dfrac{e^{2}}{2}$

์‹(2)๋ฅผ ์ตœ์†Œํ™”ํ•˜๋Š” ๋งค๊ฐœ๋ณ€์ˆ˜ $\theta$๋Š” ์‹(3)๊ณผ ๊ฐ™์ด ๋น„์šฉํ•จ์ˆ˜์˜ ๊ธฐ์šธ๊ธฐ $\partial J/\partial\theta$๋ฅผ ๊ตฌํ•ด ๊ทธ ๊ธฐ์šธ๊ธฐ ๋ถ€ํ˜ธ์˜ ๋ฐ˜๋Œ€ ๋ฐฉํ–ฅ์œผ๋กœ $\theta$๋ฅผ ๊ณ„์† ์ด๋™์‹œ์ผœ ๋น„์šฉํ•จ์ˆ˜๊ฐ€ ์ตœ์†Ÿ๊ฐ’์„ ๊ฐ–๋Š” $\theta$๋ฅผ ์ฐพ๋Š” ๊ฒฝ์‚ฌํ•˜๊ฐ•๋ฒ•์œผ๋กœ ๊ตฌํ•œ๋‹ค. ์ผ์ • ์ƒ˜ํ”Œ๋ง ์‹œ๊ฐ„์„ ๊ฐ–๋Š” ์ด์‚ฐ๊ณ„ ํ‘œํ˜„์‹์ธ ์‹(3)์€ ์—ฐ์†๊ณ„ ํ‘œํ˜„์œผ๋กœ ๋‚˜ํƒ€๋‚ด๋ฉด ์‹(4)์™€ ๊ฐ™์ด ๋œ๋‹ค. ์‹(2)๋กœ๋ถ€ํ„ฐ $\partial J/\partial e=e$์ด๋ฏ€๋กœ ์‹(4)์˜ $\theta$๋ฅผ ๊ตฌํ•˜๋Š” ๋ฌธ์ œ๋Š” ๊ฒฐ๊ตญ $\partial e/\partial\theta$๋ฅผ ๊ตฌํ•˜๋Š” ๋ฌธ์ œ๋กœ ๊ท€์ฐฉ๋œ๋‹ค.

(3)
$\theta_{i+1}=\theta_{i}-\gamma\dfrac{\partial J}{\partial\theta}$
(4)
$\dfrac{d\theta}{dt}=-\gamma(\dfrac{\partial J}{\partial\theta})=-\gamma(\dfrac{\partial J}{\partial e}\dfrac{\partial e}{\partial\theta})=-\gamma e(\dfrac{\partial e}{\partial\theta})$

์ด๋•Œ $\gamma$๋Š” ์ ์‘ ๊ฒŒ์ธ(ํ•™์Šต๋ฅ )์œผ๋กœ ์„ค๊ณ„์ž๊ฐ€ ์„ค์ •ํ•ด์•ผ ํ•˜๋Š” ์„ค๊ณ„ ํŒŒ๋ผ๋ฏธํ„ฐ์ด๋‹ค. $\gamma$ ๊ฐ’์ด ๋„ˆ๋ฌด ์ž‘์œผ๋ฉด $\theta$๊ฐ€ ์ตœ์†Ÿ๊ฐ’์— ๋А๋ฆฌ๊ฒŒ ์ˆ˜๋ ดํ•˜๊ณ , ๋ฐ˜๋Œ€๋กœ $\gamma$๊ฐ€ ๋„ˆ๋ฌด ํฌ๋ฉด $\theta$๊ฐ€ ์ง„๋™ํ•˜๊ฑฐ๋‚˜ ๋ฐœ์‚ฐํ•  ์ˆ˜ ์žˆ์œผ๋ฏ€๋กœ ์ ์ ˆํ•œ $\gamma$ ๊ฐ’์˜ ์„ค์ •์ด ์ค‘์š”ํ•˜๊ฒŒ ๋œ๋‹ค.

์‹(4)์˜ $\partial e/\partial\theta$๋ฅผ ๊ตฌํ•˜๊ธฐ ์œ„ํ•ด ์ฐธ์กฐ ๋ชจ๋ธ๊ณผ ํ”Œ๋žœํŠธ์˜ ์ „๋‹ฌํ•จ์ˆ˜๊ฐ€ ์‹œ์ •์ˆ˜ $\tau$๋Š” ๊ฐ™๊ณ ($\tau_{p}=\tau_{m}$), DC ๊ฒŒ์ธ์ธ $K_{p},\: K_{m}$๋งŒ ๊ฐ๊ธฐ ๋‹ค๋ฅด๋‹ค๊ณ  ๊ฐ€์ •ํ•œ๋‹ค. ์ด๋Š” ์ฐธ์กฐ ๋ชจ๋ธ์˜ ์ถœ๋ ฅ์ด PI ์ œ์–ด๊ธฐ์— ์˜ํ•ด ๊ณผ๋„ ํŠน์„ฑ ์ง€ํ‘œ๋ฅผ ํฌํ•จํ•œ ์„ค๊ณ„์‚ฌ์–‘์„ ๋งŒ์กฑํ•˜๋„๋ก ๋ฐ”๋žŒ์งํ•œ ๊ฑฐ๋™์„ ๊ฐ•์ œํ•˜๊ณ  ์žˆ๊ธฐ ๋•Œ๋ฌธ์— ์„ค๊ณ„์˜ ํŽธ์˜๋ฅผ ๋„๋ชจํ•˜๊ธฐ ์œ„ํ•จ์ด๋‹ค. ๊ฐ ๋ชจ๋ธ์˜ ์ถœ๋ ฅ $Y(s),\:$$Y_{m}(s)$๋Š” ์‹(5), ์‹(6)๊ณผ ๊ฐ™๋‹ค.

(5)
$Y(s)=K_{p}G(s)U(s)$
(6)
$Y_{m}(s)=K_{m}G(s)R(s)$

์ ์‘์ œ์–ด๊ธฐ(์ ์‘ ์•Œ๊ณ ๋ฆฌ์ฆ˜) $C(s)$์˜ ์ถœ๋ ฅ์ธ ์ œ์–ด์ž…๋ ฅ $U(s)$๋Š” ๋งค๊ฐœ๋ณ€์ˆ˜ $\theta$๋ฅผ ์ด์šฉํ•ด ์‹(7)๊ณผ ๊ฐ™์ด ์ •์˜ํ•œ๋‹ค.(9) ์‹(1)์˜ ๋ผํ”Œ๋ผ์Šค ๋ณ€ํ™˜์‹์— ์‹(5)์™€ ์‹(6)์„ ๋Œ€์ž…ํ•˜๋ฉด ์‹(8)์ด ์–ป์–ด์ง„๋‹ค.

(7)
$U(s)=\theta(s)R(s)$
(8)
$E(s)=K_{p}G(s)U(s)-K_{m}G(s)R(s)$

์‹(8)์˜ $U(s)$์— ์‹(7)์„ ๋Œ€์ž…ํ•˜๊ณ  $\theta$์— ๋Œ€ํ•ด ํŽธ๋ฏธ๋ถ„ํ•œ ํ›„, ์‹(6)์„ ๋Œ€์ž…ํ•˜๋ฉด ์‹(9)๊ฐ€ ์–ป์–ด์ง„๋‹ค. ์ตœ์ข…์ ์œผ๋กœ MIT ๊ทœ์น™์ธ ์‹(4)์— ์‹(9)๋ฅผ ์ ์šฉํ•˜๋ฉด, $t-$๊ณต๊ฐ„์—์„œ์˜ ๋งค๊ฐœ๋ณ€์ˆ˜ $\theta$๋Š” ์‹(10)๊ณผ ๊ฐ™์ด ๋„์ถœ๋œ๋‹ค.

(9)
$\dfrac{\partial E(s)}{\partial\theta}=K_{p}G(s)R(s)=\dfrac{K_{p}}{K_{m}}Y_{m}(s)$
(10)
$\dfrac{d\theta}{dt}=-\gamma e\dfrac{K_{p}}{K_{m}}y_{m}=-\gamma^{'}ey_{m}$

MIT ๊ทœ์น™์„ ์ ์šฉํ•œ ์‹(10)์˜ $d\theta /dt$๋Š” ์‹(1)๊ณผ, ์‹(5), ์‹(6)์„ ๋Œ€์ž…ํ•˜๋ฉด ์„ค์ •๊ฐ’ $r$์˜ ์ œ๊ณฑ์— ๋น„๋ก€ํ•˜๊ฒŒ ๋œ๋‹ค. ๋”ฐ๋ผ์„œ ์‹(10)์€ ์„ค์ •๊ฐ’์˜ ํฌ๊ธฐ ๋ณ€ํ™”์— ๋งค์šฐ ๋ฏผ๊ฐํ•˜๋ฉฐ ์„ค์ •๊ฐ’์ด ํฌ๊ฒŒ ๋ณ€๋™ํ•  ๊ฒฝ์šฐ ์ œ์–ด ์‹œ์Šคํ…œ์˜ ๋ถˆ์•ˆ์ •์„ ์•ผ๊ธฐํ•  ์ˆ˜๋„ ์žˆ๋‹ค. ํŠนํžˆ, ์„ค์ •๊ฐ’์ด ๊ธ‰๊ฒฉํžˆ ์ฆ๊ฐ€ํ•˜๋ฉด ๋งค๊ฐœ๋ณ€์ˆ˜ $\theta$๊ฐ€ ๋ฐœ์‚ฐํ•˜์—ฌ ํ”Œ๋žœํŠธ์˜ ์ถœ๋ ฅ๊ฐ’ $y(=Y)$๊ฐ€ ๋ฐœ์‚ฐํ•  ์ˆ˜ ์žˆ๋‹ค. ๋”ฐ๋ผ์„œ ๋ณธ ์—ฐ๊ตฌ์—์„œ๋Š” ์‹(10) ๋Œ€์‹  ๊ฐœ์„ ๋œ MIT ๊ทœ์น™ ์‹(11)์„ ์‚ฌ์šฉํ•œ๋‹ค.(14) ๊ฐœ์„ ๋œ MIT ๊ทœ์น™์€ ์‹(11)์˜ ๋ถ„๋ชจ์— ํฌํ•จ๋œ ์ •๊ทœํ™” ์ธ์ž $y_{m}^{2}$์œผ๋กœ ์ธํ•ด ๋งค๊ฐœ๋ณ€์ˆ˜ $\theta$๊ฐ€ 0๊ณผ 1 ์‚ฌ์ด์˜ ๋ฒ”์œ„๋กœ ์ œํ•œ๋˜์–ด ์„ค์ •๊ฐ’์˜ ๊ธ‰๊ฒฉํ•œ ๋ณ€ํ™”์— ๋”ฐ๋ฅธ ์ถœ๋ ฅ๊ฐ’ $y$์˜ ๋ฐœ์‚ฐ์„ ๋ง‰์„ ์ˆ˜ ์žˆ๋‹ค. ๋˜ํ•œ, ๋ถ„๋ชจ์— ํฌํ•จ๋œ 0๋ณด๋‹ค ํฐ ์ž„์˜์˜ ์ƒ์ˆ˜ $\alpha$๋กœ ์ธํ•ด $y_{m}$์ด 0์— ๊ทผ์ ‘ ์‹œ $d\theta /dt$๊ฐ€ ๋ฌดํ•œ๋Œ€๋กœ ๋ฐœ์‚ฐํ•˜๋Š” ๊ฒƒ์„ ๋ฐฉ์ง€ํ•จ์œผ๋กœ์จ ์•ˆ์ •์ ์ธ ์ œ์–ด๋ฅผ ๋ณด์žฅํ•œ๋‹ค. ์ด๋“ค $\alpha$์™€ $y_{m}$์€ ํ•™์Šต ์†๋„ $\gamma$(=$\gamma^{'}$)์™€ ์•ˆ์ •์„ฑ ์‚ฌ์ด์˜ ๊ท ํ˜•์„ ๋งž์ถ”๋Š” ์—ญํ• ์„ ํ•œ๋‹ค. ์ตœ์ข…์ ์œผ๋กœ ๋งค๊ฐœ๋ณ€์ˆ˜ $\theta$๋Š” ์‹(11)๋กœ๋ถ€ํ„ฐ ์‹(12)์™€ ๊ฐ™์ด ๊ตฌํ•ด์ง„๋‹ค.

(11)
$\dfrac{d\theta}{dt}=\dfrac{-\gamma ey_{m}}{\alpha +y_{m}^{2}},\: \alpha >0$
(12)
$\theta =\int\dfrac{-\gamma ey_{m}}{\alpha +y_{m}^{2}}dt$

์‹(12)์—์„œ ์„ค๊ณ„ ํŒŒ๋ผ๋ฏธํ„ฐ์ธ $\alpha$๋ฅผ ํฌ๊ฒŒ ์„ค์ •ํ•˜๋ฉด ๋งค๊ฐœ๋ณ€์ˆ˜ $\theta$์˜ ์—…๋ฐ์ดํŠธ ์†๋„๋Š” ๋А๋ ค์ง€๋‚˜ ์•ˆ์ •์„ฑ์€ ๋†’์•„์ง„๋‹ค. ๋ฐ˜๋Œ€๋กœ $\alpha$๋ฅผ ์ž‘๊ฒŒ ์„ค์ •ํ•˜๋ฉด $\theta$์˜ ์—…๋ฐ์ดํŠธ ์†๋„๋Š” ๋นจ๋ผ์ง€๋‚˜ ์•ˆ์ •์„ฑ์€ ๋‚ฎ์•„์ง„๋‹ค. ๋”ฐ๋ผ์„œ ๊ฐœ์„ ๋œ MIT ๊ทœ์น™์€ ์ œ์–ด ์‹œ์Šคํ…œ์˜ ์‘๋‹ต์„ฑ์„ ์กฐ์ ˆํ•˜๊ณ  ํ•™์Šต ๊ณผ์ •์—์„œ์˜ ์•ˆ์ •์„ฑ์„ ํ™•๋ณดํ•  ์ˆ˜ ์žˆ๋Š” ์žฅ์ ์ด ์žˆ๋‹ค.

2.3 ๊ฐ€๋ณ€์† ๋ƒ‰๋™์‹œ์Šคํ…œ์˜ ๋ชจ๋ธ๋ง

H-MRAC์˜ ์„ค๊ณ„๋ฅผ ์œ„ํ•ด์„œ๋Š” Fig. 2(b)์—์„œ์™€ ๊ฐ™์ด ์ฐธ์กฐ ๋ชจ๋ธ๊ณผ ํ”Œ๋žœํŠธ ๋ชจ๋‘ ์ „๋‹ฌํ•จ์ˆ˜ ๋ชจ๋ธ์— ๊ธฐ๋ฐ˜ํ•œ PI ์ œ์–ด๊ธฐ๋ฅผ ํ•„์š”๋กœ ํ•œ๋‹ค. ๋ณธ ์—ฐ๊ตฌ์—์„œ๋Š” ์ „๋‹ฌํ•จ์ˆ˜ ๋ชจ๋ธ์„ Fig. 1์˜ OCS์— ๋Œ€ํ•œ ๋™ํŠน์„ฑ ์‹คํ—˜์„ ํ†ตํ•ด ๊ตฌํ•˜๊ณ , ์„ค๊ณ„์‚ฌ์–‘์„ ๊ณ ๋ คํ•ด PI ๊ฒŒ์ธ์„ ๋„์ถœํ•œ๋‹ค. Fig. 3์€ OCS์˜ ์ œ์–ด๋Ÿ‰์ธ $T_{o}$์™€ $T_{s}$, ๊ทธ๋ฆฌ๊ณ  ์ด๋“ค ๊ฐ๊ฐ์˜ ์ œ์–ด์ž…๋ ฅ์ธ $f_{i}$์™€ $v_{o}$์˜ ์ž…์ถœ๋ ฅ ๊ด€๊ณ„๋ฅผ ๋‚˜ํƒ€๋‚ด๋Š” ๋ธ”๋ก์„ ๋„์ด๋‹ค. ๊ฐ ์ „๋‹ฌํ•จ์ˆ˜๋Š” ๋™์ž‘์  ๊ทผ๋ฐฉ์—์„œ ์ œ์–ด์ž…๋ ฅ $f_{i}$์™€ $v_{o}$๋ฅผ ๊ณ„๋‹จ์ƒ์œผ๋กœ ๋ณ€๋™์‹œํ‚จ ์‹คํ—˜ ๊ฒฐ๊ณผ๋กœ๋ถ€ํ„ฐ ๋„์ถœํ•˜์˜€๋‹ค. ์ด๋•Œ $T_{o}$ ์ œ์–ด๋ฅผ ์œ„ํ•œ $f_{i}$ ๋ณ€๋™ ์‹œ $v_{o}$์˜ ์กฐ์ž‘๋Ÿ‰์€ $T_{s}$๊ฐ€ ๋™์ž‘์ ์œผ๋กœ ์šด์ „๋˜๋Š” ์กฐ์ž‘๋Ÿ‰ ๊ฐ’์œผ๋กœ ์ผ์ •$\left(v_{o}={C}\right)$ํ•˜๊ฒŒ ์ทจํ•˜์˜€๋‹ค. ๋˜ํ•œ $T_{s}$ ์ œ์–ด๋ฅผ ์œ„ํ•œ $v_{o}$ ๋ณ€๋™ ์‹œ ์กฐ์ž‘๋Ÿ‰ $f_{i}$๋Š” $T_{o}$๊ฐ€ ๋™์ž‘์ ์œผ๋กœ ์šด์ „๋˜๋Š” ์กฐ์ž‘๋Ÿ‰์˜ ๊ฐ’์œผ๋กœ ์ผ์ •$\left(f_{i}={C}\right)$ํ•˜๊ฒŒ ์ทจํ•˜์˜€๋‹ค.

Fig. 3์˜ ์ „๋‹ฌํ•จ์ˆ˜ $G_{cp}(s)$์™€ $G_{ev}(s)$๋Š” OCS์˜ VSC์™€ EEV์˜ ๊ฐ ์ œ์–ด์ž…๋ ฅ $f_{i}$์™€ $v_{o}$์— ๋Œ€ํ•œ ์ œ์–ด๋Ÿ‰ $T_{o}$์™€ $T_{s}$์˜ ์ „๋‹ฌํ•จ์ˆ˜์ด๊ณ , $G_{i1}(s)$์™€ $G_{i2}(s)$๋Š” ์กฐ์ž‘๋Ÿ‰์˜ ๋ณ€๋™์ด ํƒ€ ์ œ์–ด๋Ÿ‰์— ์˜ํ–ฅ์„ ๋ฏธ์น˜๋Š” ๊ฐ„์„ญํ•ญ์˜ ์ „๋‹ฌํ•จ์ˆ˜๋ฅผ ๋‚˜ํƒ€๋‚ธ๋‹ค. $G_{i1}(s)$๋Š” ์ธ๋ฒ„ํ„ฐ ์ฃผํŒŒ์ˆ˜ $f_{i}$๊ฐ€ ๊ณผ์—ด๋„ $T_{s}$์— ๋ฏธ์น˜๋Š” ์˜ํ–ฅ์„ ๋‚˜ํƒ€๋‚ด๋ฉฐ, EEV ๋“œ๋ผ์ด๋ธŒ์˜ ์Šคํ… ์ง€๋ น $v_{o}$์˜ ๋ณ€๋™์ด ์ถœ๋ ฅ $T_{o}$์— ๋ฏธ์น˜๋Š” ์˜ํ–ฅ์€ ๊ทนํžˆ ๋ฏธ๋ฏธํ•˜์˜€์œผ๋ฏ€๋กœ $G_{i2}(s)$๋Š” ๊ฐ„์„ญํ•ญ ๋ชจ๋ธ๋ง์—์„œ ์ œ์™ธํ•˜์˜€๋‹ค. ๋˜ํ•œ, $T_{o}$์— ์ธ๊ฐ€๋˜๋Š” ์™ธ๋ž€์€ ์„ ํ–‰ ์—ฐ๊ตฌ์˜ ๋ชจ๋ธ์„ ์ด์šฉํ•˜์˜€๋‹ค.(15) ์ด๋“ค ๊ฐ„์„ญํ•ญ๊ณผ ์™ธ๋ž€์˜ ์ „๋‹ฌํ•จ์ˆ˜๋Š” ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜ ๊ฒฐ๊ณผ์˜ ์ •ํ•ฉ์„ฑ์„ ํ™•์ธํ•˜๊ธฐ ์œ„ํ•œ ์ˆ˜๋‹จ์œผ๋กœ ์ด์šฉ๋  ๋ฟ, PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋‚˜ H-MRAC ์ œ์–ด๊ธฐ ์„ค๊ณ„์™€๋Š” ์ „ํ˜€ ๋ฌด๊ด€ํ•˜๋‹ค.

Fig. 4(a)๋Š” ํ”Œ๋žœํŠธ์˜ VSC ์ธก ์ „๋‹ฌํ•จ์ˆ˜ $G_{cp}(s)$, Fig. 4(b)๋Š” EEV ์ธก ์ „๋‹ฌํ•จ์ˆ˜ $G_{ev}(s)$๋ฅผ ๊ตฌํ•˜๊ธฐ ์œ„ํ•œ ๋™ํŠน์„ฑ ์‹คํ—˜ ๊ฒฐ๊ณผ์ด๋‹ค. ์‹คํ—˜ ๋ฐ์ดํ„ฐ์˜ ๋ถ„์„์„ ํ†ตํ•ด ์ „๋‹ฌํ•จ์ˆ˜ ๋ชจ๋ธ์€ ๋ถ€๋™์ž‘ ์‹œ๊ฐ„(Dead time) $\overline{d}$๋ฅผ ๊ฐ€์ง€๋ฉฐ DC ๊ฒŒ์ธ $K$์™€ ์‹œ์ •์ˆ˜ $\tau$๋ฅผ ๊ฐ–๋Š” ์ „ํ˜•์ ์ธ 1์ฐจ๊ณ„ ๋น„์„ ํ˜• ์ „๋‹ฌํ•จ์ˆ˜ $\{K/(\tau s+1)\}\times e^{-\overline{d}s}$์˜ ํ˜•ํƒœ๋กœ ๊ตฌํ•ด์กŒ๋‹ค.

Fig. 3 Transfer functions for VSC and EEV.

../../Resources/sarek/KJACR.2025.37.5.245/fig3.png

Fig. 4 Experimental results for obtaining transfer functions of $G_{cp}(s)$ and $G_{ev}(s)$.

../../Resources/sarek/KJACR.2025.37.5.245/fig4.png

์ด๋•Œ $G_{cp}(s)$์™€ $G_{ev}(s)$์˜ ๋ถ€๋™์ž‘ ์‹œ๊ฐ„ $\overline{d}$๋Š” ๊ฐ๊ฐ 65 ์ดˆ์™€ 12 ์ดˆ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. H-MRAC์˜ ์ œ์–ด์„ฑ๋Šฅ ๋น„๊ต๋ฅผ ์œ„ํ•œ PI ๋‹จ๋… ์ œ์–ด๊ธฐ์™€ H-MRAC์˜ PI ๊ฒŒ์ธ ์„ค๊ณ„ ์‹œ, ๋ถ€๋™์ž‘ ์‹œ๊ฐ„ $\overline{d}$๋Š” ๋ฌด์‹œํ•˜์—ฌ ๋‹จ์ˆœ 1์ฐจ๊ณ„ ์„ ํ˜• ์ „๋‹ฌํ•จ์ˆ˜ ๋ชจ๋ธ์ธ ์‹(13)๊ณผ ์‹(14)๋ฅผ ๊ณต์นญ ๋ชจ๋ธ๋กœ ์ด์šฉํ•˜์˜€๋‹ค.

(13)
$\left . G_{cp}(s)=\dfrac{\Delta T_{o}}{\Delta f_{i}}\right |_{v_{o}={C}}=\dfrac{-0.43}{1735s+1}$
(14)
$\left . G_{ev}(s)=\dfrac{\Delta T_{s}}{\Delta v_{o}}\right |_{f_{i}={C}}=\dfrac{-0.03}{56s+1}$

Fig. 5๋Š” Fig. 3์—์„œ ์ œ์–ด์ž…๋ ฅ $f_{i}$๊ฐ€ ์ถœ๋ ฅ $T_{s}$์— ๋ฏธ์น˜๋Š” ๊ฐ„์„ญํ•ญ ์ „๋‹ฌํ•จ์ˆ˜ $G_{i1}(s)$์˜ ๋™ํŠน์„ฑ ์‹คํ—˜ ๊ฒฐ๊ณผ์ด๋‹ค. ์„ ํ–‰ ์—ฐ๊ตฌ์—์„œ $G_{i1}(s)$๋Š” ๊ทธ๋ฆผ ๋‚ด๋ถ€์— ํ‘œ์‹œ๋œ ๊ตฌ๊ฐ„ โ‘ ๊ณผ ๊ตฌ๊ฐ„ โ‘ก์˜ ๊ฐ ์ „๋‹ฌํ•จ์ˆ˜ $0.34/(56s+1)$์™€ $\{-0.58/(427s$ $+1)\}\times e^{-104s}$์˜ ํ•ฉ์œผ๋กœ ์‹(15)์™€ ๊ฐ™์ด ๋„์ถœ๋˜์—ˆ๋‹ค.(16) ์ด๋•Œ ๋ถ€๋™์ž‘ ์‹œ๊ฐ„ $\overline{d}$๋Š” Pade 1์ฐจ ๊ทผ์‚ฌ๋ฅผ ์ด์šฉํ•ด ์„ ํ˜•ํ™”๋˜์—ˆ๋‹ค. ์‹(15)์˜ ์ „๋‹ฌํ•จ์ˆ˜๋Š” ์ œ์–ด๊ธฐ ์„ค๊ณ„์™€๋Š” ๋ฌด๊ด€ํ•˜๋ฉฐ, ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜ ์‘๋‹ต์˜ ์—„๋ฐ€ํ•œ ๋น„๊ต๋ฅผ ์œ„ํ•ด ์‹ค์ œ ์žฅ์น˜์˜ ์ œ์–ด ์ƒํ™ฉ์„ ๋ชจ์‚ฌํ•˜๊ธฐ ์œ„ํ•จ์ด๋‹ค.

Fig. 5 Experimental result for obtaining transfer function of $G_{i1}(s)$.

../../Resources/sarek/KJACR.2025.37.5.245/fig5.png
(15)
$\left . G_{i1}(s)=\dfrac{\Delta T_{s}}{\Delta f_{i}}\right |_{v_{o}={C}}=\dfrac{177.66s^{2}+3.0838s-0.004608}{23912s^{3}+942.1104s^{2}+10.2736s+0.0192}$

2.4 ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๋ฐ ์‹คํ—˜ ๋ฐฉ๋ฒ•

์„ค๊ณ„ํ•œ H-MRAC์˜ ์ œ์–ด์„ฑ๋Šฅ์„ ๊ฒ€์ฆํ•˜๊ธฐ ์œ„ํ•ด ์šฐ์„  ์„ค์ •๊ฐ’ ๋ณ€๊ฒฝ๊ณผ ์™ธ๋ž€ ์ธ๊ฐ€์— ๋Œ€ํ•œ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๋ฐ ์‹คํ—˜์„ ์ง„ํ–‰ํ•˜์˜€๋‹ค. ๋จผ์ € ์„ค์ •๊ฐ’ ์ถ”์ข… ์„ฑ๋Šฅ์„ ๋ถ„์„ํ•˜๊ธฐ ์œ„ํ•ด ์ฃผ ์ œ์–ด๋Ÿ‰์ธ $T_{o}$์˜ ์ง€๋ น์„ 1,000 ์ดˆ ์‹œ์ ์— ์ดˆ๊ธฐ ์˜จ๋„ 30โ„ƒ์—์„œ 25โ„ƒ๋กœ ์Šคํ… ํ˜•ํƒœ๋กœ ๋ณ€๊ฒฝํ•˜์˜€์œผ๋ฉฐ, ๋ณด์กฐ ์ œ์–ด๋Ÿ‰์ธ $T_{s}$์˜ ์„ค์ •๊ฐ’์€ OCS ์‹คํ—˜ ์žฅ์น˜์˜ ์ตœ๋Œ€ COP๊ฐ€ ์œ ์ง€๋˜๋Š” 7โ„ƒ๋กœ ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜ ์ „ ๊ตฌ๊ฐ„์— ๊ฑธ์ณ ์ผ์ •ํ•˜๊ฒŒ ์„ค์ •ํ•˜์˜€๋‹ค.(17) ๋˜ํ•œ, ์—ด๋ถ€ํ•˜ ์™ธ๋ž€์— ๋Œ€ํ•œ ์ œ์–ด ๊ฐ•์ธ ์„ฑ๋Šฅ์„ ๋ถ„์„ํ•˜๊ธฐ ์œ„ํ•ด ์—ด๋ถ€ํ•˜๋Š” 5,000 ์ดˆ์™€ 7,000 ์ดˆ์— ๊ฐ๊ฐ ์ •๊ฒฉ๊ฐ’(1.6 kW)์˜ 10%๋ฅผ ์ฆโ€ค๊ฐํ•˜์˜€๋‹ค. ์ด๋•Œ OCS ์žฅ์น˜์˜ ์™ธ๊ธฐ ์˜จ๋„ $T_{a}$๋Š” $22\pm 1^{\circ}{C}$๋กœ ์œ ์ง€ํ•˜์˜€๊ณ , ์˜ค์ผ์ถœ๊ตฌ์˜จ๋„ ์ธก์— ์˜ํ–ฅ์„ ๋ฏธ์น˜๋Š” ์™ธ๋ž€์ธ ์—ด๋ถ€ํ•˜ ์ „๋‹ฌํ•จ์ˆ˜๋Š” $G_{d}(s)=20.19/(1,\: 685s+1)$๋ฅผ ์‚ฌ์šฉํ•˜์˜€๋‹ค.(15) ์‹(12)์—์„œ $T_{o}$์™€ $T_{s}$์˜ ์ ์‘ ๊ฒŒ์ธ $\gamma$์™€ ์ƒ์ˆ˜ํ•ญ $\alpha$๋Š” $1\times 10^{-3}$, $1\times 10^{-5}$๋ฅผ ๊ฐ๊ฐ ์ ์šฉํ•˜์˜€๋‹ค. ๋˜ํ•œ Fig. 2(b)์—์„œ H-MRAC์˜ ์ฐธ์กฐ ๋ชจ๋ธ๊ณผ ํ”Œ๋žœํŠธ์— ์ ์šฉํ•œ PI ์ œ์–ด๊ธฐ์˜ ๊ฒŒ์ธ ๊ฐ’์€ ์˜ค์ผ์ฟจ๋Ÿฌ ์ „๋‹ฌํ•จ์ˆ˜ ๋ชจ๋ธ์„ ๊ธฐ๋ฐ˜์œผ๋กœ MATLAB PID ํŠœ๋„ˆ๋ฅผ ์‚ฌ์šฉํ•ด ์ œ์–ด๊ธฐ ์„ค๊ณ„ ์‚ฌ์–‘์„ ๋งŒ์กฑํ•˜๋„๋ก $T_{o}$์˜ ๊ฒฝ์šฐ $k_{p}=-26$, $k_{i}=-0.1$, $T_{s}$์˜ ๊ฒฝ์šฐ $k_{p}=-21$, $k_{i}=-0.2$๋กœ ์„ค๊ณ„๋˜์—ˆ๋‹ค. ๋Œ€์กฐ๊ตฐ์ธ PI ๋‹จ๋… ์ œ์–ด๊ธฐ์˜ ๊ฒŒ์ธ ๊ฐ’๋„ ์ด์™€ ๋™์ผํ•˜๊ฒŒ ์„ค๊ณ„ํ•˜์˜€๋‹ค. ๋ชจ๋“  PI ์ œ์–ด๊ธฐ์˜ ์ถœ๋ ฅ์ธ ์ œ์–ด์ž…๋ ฅ์— ๋Œ€ํ•œ ์ œ์•ฝ ์กฐ๊ฑด์œผ๋กœ์„œ ์••์ถ•๊ธฐ ์ฃผํŒŒ์ˆ˜์™€ EEV ๊ฐœ๋„ ์„ค์ •๊ฐ’์— ํฌํ™”(Saturation)๊ฐ’ 70 Hz์™€ 2,000 step์„ ๊ฐ๊ฐ ์„ค์ •ํ•˜์˜€๋‹ค. ์˜จ๋„ ์„ผ์„œ๋Š” K-ํƒ€์ž… ์—ด์ „๋Œ€(Thermocouple)๋ฅผ ์‚ฌ์šฉํ•˜์˜€๊ณ  ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜์˜ ์ œ์–ด ์ฃผ๊ธฐ๋Š” ๋™์ผํ•˜๊ฒŒ 1 ์ดˆ๋กœ ์„ค์ •ํ•˜์˜€๋‹ค. ๋‹ค๋งŒ, ์‹œ๋ฎฌ๋ ˆ์ด์…˜์—์„œ๋Š” ์‹ค์ œ ์šด์ „ ํ™˜๊ฒฝ์„ ๊ณ ๋ คํ•˜์—ฌ ํ”Œ๋žœํŠธ ์ „๋‹ฌํ•จ์ˆ˜ ์ธก์— ์—ด์žก์Œ ๋…ธ์ด์ฆˆ๊ฐ€ ์ธ๊ฐ€๋˜๋Š” ์ƒํ™ฉ์„ ๊ฐ€์ •ํ•˜์˜€๋‹ค. ์˜จ๋„ ์„ผ์„œ์˜ ์—ด์žก์Œ์„ ๊ตฌํ˜„ํ•˜๊ธฐ ์œ„ํ•ด ์‹ค์ œ ์žฅ์น˜์˜ ์‹คํ—˜ ๋ฐ์ดํ„ฐ์— ๋Œ€ํ•œ FFT(Fast Fourier Transform) ๋ถ„์„์„ ํ†ตํ•ด $T_{o}$์™€ $T_{s}$์— ๊ฐ๊ฐ 0.17, 11.11์˜ ๊ฐ•๋„๋ฅผ ๊ฐ–๋Š” ๋ฐฑ์ƒ‰ ์žก์Œ(White noise)์„ ์ธ๊ฐ€ํ•˜์˜€๋‹ค. ์ œ์–ด์„ฑ๋Šฅ ๋น„๊ต๋ฅผ ์œ„ํ•œ ๋Œ€์กฐ๊ตฐ์ธ PI ๋‹จ๋… ์ œ์–ด๊ธฐ์™€ H-MRAC ์ œ์–ด๊ธฐ ์„ค๊ณ„ ์‹œ, ์ œ์–ด๋Ÿ‰ $T_{o}$์™€ $T_{s}$์˜ ์„ค์ •๊ฐ’ ์ถ”์ข… ์‹œ์˜ ์„ค๊ณ„์‚ฌ์–‘์€ ์ตœ๋Œ€ ์–ธ๋”์ŠˆํŠธ 0.5โ„ƒ ์ด๋‚ด, ์ •์ฐฉ์‹œ๊ฐ„์€ 1,400 ์ดˆ ์ด๋‚ด๋กœ ํ•˜์˜€๋‹ค. ์ด ์ •์ฐฉ์‹œ๊ฐ„์€ ๋Œ€์กฐ๊ตฐ์ธ PI ๋‹จ๋… ์ œ์–ด๊ธฐ๊ฐ€ ์กฐ์ž‘๋Ÿ‰์˜ ์ ๋ถ„ ํฌํ™”๋ฅผ ๋ฐฉ์ง€ํ•˜๊ธฐ ์œ„ํ•œ ์•ˆํ‹ฐ ์™€์ธ๋“œ์—…(Anti-windup) ๊ฒŒ์ธ์„ ๊ฐ€์งˆ ๊ฒฝ์šฐ์˜ ์–‘ํ˜ธํ•œ ์ถœ๋ ฅ์— ํ•ด๋‹นํ•œ๋‹ค. ์Šคํ… ์ƒ ์™ธ๋ž€ ์ธ๊ฐ€ ์‹œ์˜ ์ œ์–ด ๊ฐ•์ธ์„ฑ ํ‰๊ฐ€๋ฅผ ์œ„ํ•œ ์„ค๊ณ„์‚ฌ์–‘์œผ๋กœ๋Š” ์ •์ƒ์ƒํƒœ์˜ค์ฐจ๊ฐ€ ํ—ˆ์šฉ ์˜ค์ฐจ ๋ฒ”์œ„ ยฑ0.1โ„ƒ ์ด๋‚ด๊ฐ€ ๋˜๋„๋ก ํ•˜์˜€๋‹ค.

๋‹ค์Œ์œผ๋กœ, ์„ค๊ณ„ํ•œ ์ œ์–ด๊ธฐ์˜ ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ์— ๋Œ€ํ•œ ๊ฐ•์ธ์„ฑ์ด ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ํ†ตํ•ด ๋ถ„์„๋˜์—ˆ๋‹ค. ์šฐ์„  ์ฐธ์กฐ ๋ชจ๋ธ $G_{m}(s)$์˜ ํŠน์„ฑ ํŒŒ๋ผ๋ฏธํ„ฐ $K_{m},\: \tau_{m}$์€ ์„ ํ–‰ ์—ฐ๊ตฌ์—์„œ ๊ณต์นญ ๋ชจ๋ธ $G_{p}(s)$์˜ ํŠน์„ฑ๊ฐ’๋“ค์ด ์ตœ๋Œ€ ยฑ23%๊นŒ์ง€ ๋ณ€๋™๋จ์„ ๊ณ ๋ คํ•˜์—ฌ ์ด ๋ฒ”์œ„ ์ด๋‚ด๋กœ ๋ณ€๊ฒฝํ•˜์˜€๋‹ค.(17) ์ด์— ๋”ฐ๋ผ ์••์ถ•๊ธฐ ์ธก์˜ ์ฐธ์กฐ ๋ชจ๋ธ $G_{mcp}(s)$๋Š” ์‹(13)์˜ ํŠน์„ฑ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ 1.22$K_{p}$, 0.78$\tau_{p}$๋กœ ๋ณ€๊ฒฝํ•œ ์‹(16), ๊ทธ๋ฆฌ๊ณ , EEV ์ธก์˜ ์ฐธ์กฐ ๋ชจ๋ธ $G_{mev}(s)$๋Š” ์‹(14)์˜ ํŠน์„ฑ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ 1.22$K_{p}$, 0.78$\tau_{p}$๋กœ ๋ณ€๊ฒฝํ•œ ์‹(17)์œผ๋กœ ์ทจํ•˜์˜€๋‹ค. ์•ž์„œ ๊ฐœ์„ ๋œ MIT ์ ์‘ ๊ทœ์น™(์ดํ•˜ MIT ๊ทœ์น™) ๋„์ถœ ๊ณผ์ •์—์„œ๋Š” ํ”Œ๋žœํŠธ $G_{p}(s)$์™€ ์ฐธ์กฐ ๋ชจ๋ธ $G_{m}(s)$๊ฐ€ ์‹œ์ •์ˆ˜ $\tau$๋Š” ๊ฐ™๊ณ , DC ๊ฒŒ์ธ($K_{p},\: K_{m}$)๋งŒ ๊ฐ๊ธฐ ๋‹ค๋ฅด๋‹ค๊ณ  ๊ฐ€์ •ํ•˜์˜€์ง€๋งŒ, ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ์— ๋Œ€ํ•œ ์ œ์–ด ๊ฐ•์ธ์„ฑ ํ‰๊ฐ€ ์‹œ๋ฎฌ๋ ˆ์ด์…˜์—์„œ๋Š” $K_{p},\: K_{m}$๋ฟ๋งŒ ์•„๋‹ˆ๋ผ $\tau$๋„ ๊ฐ๊ธฐ ๋‹ฌ๋ฆฌ ์„ค๊ณ„ํ•จ์œผ๋กœ์จ ๋ชจ๋ธ์˜ ๋ถˆํ™•์‹ค์„ฑ์„ ๋”์šฑ ๊ฐ€์ค‘์‹œ์ผฐ๋‹ค. ๋˜ํ•œ, ์‹(16), ์‹(17)์—์„œ๋Š” ์ฐธ์กฐ ๋ชจ๋ธ $G_{m}(s)$์˜ ์‹œ์ •์ˆ˜ $\tau_{m}$์„ ๋ณธ ๋…ผ๋ฌธ์—์„œ ์‚ฌ์šฉํ•œ ๊ณต์นญ ๋ชจ๋ธ ์‹(13)๊ณผ ์‹(14)๋ณด๋‹ค ๋” ์งง๊ฒŒ, DC ๊ฒŒ์ธ $K_{m}$์„ ๋” ํฌ๊ฒŒ ์„ค๊ณ„ํ•จ์œผ๋กœ์จ ๋” ์šฐ์ˆ˜ํ•œ ์ œ์–ด์„ฑ๋Šฅ์„ ๊ฐ–๋„๋ก ํ•˜์˜€๋‹ค. ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜์€ Matlab/Simulink ๊ธฐ๋ฐ˜์œผ๋กœ ์ˆ˜ํ–‰๋˜์—ˆ๊ณ , ์‹คํ—˜์—์„œ๋Š” ์ œ์–ด์žฅ์น˜ RTC๋ฅผ ์ด์šฉํ•˜์˜€๋‹ค.

(16)
$G_{mcp}(s)=\dfrac{-0.52}{1527s+1}$
(17)
$G_{mev}(s)=\dfrac{-0.037}{49s+1}$

3. ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜ ๊ฒฐ๊ณผ ๋ฐ ๊ณ ์ฐฐ

3.1 ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๊ฒฐ๊ณผ ๋ฐ ๊ณ ์ฐฐ

Fig. 6์€ OCS๋ฅผ ๋Œ€์ƒ์œผ๋กœ ๋ณธ ๋…ผ๋ฌธ์—์„œ ์ œ์•ˆํ•œ H-MRAC์˜ ์ œ์–ด์„ฑ๋Šฅ์„ ๋ถ„์„ํ•œ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๊ฒฐ๊ณผ์ด๋‹ค. H-MRAC๊ณผ์˜ ์ œ์–ด์„ฑ๋Šฅ ๋น„๊ต๋ฅผ ์œ„ํ•ด, ์‚ฐ์—… ํ˜„์žฅ์—์„œ ๋„๋ฆฌ ์‚ฌ์šฉ๋˜๋Š” PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ฅผ ๋Œ€์กฐ๊ตฐ์œผ๋กœ ์ทจํ•˜์˜€๋‹ค. H-MRAC์˜ ๊ฒฝ์šฐ์—๋„ ๊ธฐ์กด MIT ๊ทœ์น™๊ณผ ๊ฐœ์„ ๋œ MIT ๊ทœ์น™์˜ ๋‘ ๊ฐ€์ง€๋กœ ๊ตฌ๋ถ„ํ•˜์—ฌ ์ œ์–ด ์‘๋‹ต์„ ๋น„๊ตํ•˜์˜€๋‹ค.

Fig. 6 Comparison of H-MRAC control performance based on adaptive control logic.

../../Resources/sarek/KJACR.2025.37.5.245/fig6.png

๋˜ํ•œ, H-MARC์— ์‚ฌ์šฉ๋œ MIT ๊ทœ์น™๊ณผ ๊ฐœ์„ ๋œ MIT ๊ทœ์น™์˜ ์„ค๊ณ„ ํŒŒ๋ผ๋ฏธํ„ฐ์ธ $\gamma$๋Š” ๊ฐ๊ฐ $3\times 10^{-5}$, $1\times 10^{-3}$๋กœ ์„ค์ •ํ•˜์˜€๊ณ , ๊ฐœ์„ ๋œ MIT ๊ทœ์น™์˜ $\alpha$๋Š” $1\times 10^{-5}$๋กœ ์„ค์ •ํ•˜์˜€๋‹ค. ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๋ถ„์„ ๊ฒฐ๊ณผ, Fig. 6(a)์—์„œ ๋ช…๋ น(์„ค์ •๊ฐ’) ์ถ”์ข…์„ฑ๋Šฅ์€ ๊ฐœ์„ ๋œ MIT ๊ทœ์น™์„ ์ ์šฉํ•œ H-MRAC์˜ ๊ฒฝ์šฐ๊ฐ€ ๊ฐ€์žฅ ์šฐ์ˆ˜ํ•˜์˜€๊ณ , ๋‹ค์Œ์œผ๋กœ ๊ธฐ์กด์˜ MIT ๊ทœ์น™์„ ์ ์šฉํ•œ H-MRAC ๊ทธ๋ฆฌ๊ณ  PI ๋‹จ๋… ์ œ์–ด๊ธฐ์˜ ์ˆœ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. Fig. 6(b)์™€ Fig. 6(c)์—์„œ ์กฐ์ž‘๋Ÿ‰ $f_{i}$์™€ $v_{o}$๋„ ๊ฐœ์„ ๋œ MIT ๊ทœ์น™์„ ์ ์šฉํ•œ H-MRAC์˜ ๊ฒฝ์šฐ๊ฐ€ ๊ฐ€์žฅ ์•ˆ์ •์ ์œผ๋กœ ์ œ์–ด๋˜์—ˆ๋‹ค. ๋”ฐ๋ผ์„œ ์ดํ›„์˜ ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜์—์„œ๋Š” ๊ฐœ์„ ๋œ MIT ๊ทœ์น™์„ ์ ์šฉํ•˜์—ฌ ๋ณธ ๋…ผ๋ฌธ์—์„œ ์ œ์•ˆํ•œ H-MRAC์˜ ์„ค๊ณ„ ํƒ€๋‹น์„ฑ์„ ํ™•์ธํ•˜๊ณ , ์ œ์–ด ๊ฐ•์ธ์„ฑ์„ ๋ถ„์„ํ•œ๋‹ค.

Fig. 7๊ณผ Fig. 8์€ H-MRAC์˜ ์„ค๊ณ„ ํŒŒ๋ผ๋ฏธํ„ฐ์ธ $\gamma$์™€ $\alpha$ ๊ฐ’ ๋ณ€๊ฒฝ ์‹œ์˜ $T_{o}$์™€ $T_{s}$์˜ ์ œ์–ด์„ฑ๋Šฅ์„ ๋ถ„์„ํ•œ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๊ฒฐ๊ณผ์ด๋‹ค. ์ฃผ ์ œ์–ด๋Ÿ‰ $T_{o}$๋ฅผ ์ •๋ฐ€ํ•˜๊ฒŒ ์ œ์–ดํ•˜๋Š” ์„ค๊ณ„ ํŒŒ๋ผ๋ฏธํ„ฐ $\gamma$์™€ $\alpha$ ๊ฐ’์„ ์ฐพ๊ธฐ ์œ„ํ•ด ์ด๋“ค์„ ๋ฐ˜๋ณต ์‹œํ–‰(Trial error)์œผ๋กœ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ํ•˜์˜€๋‹ค. Fig. 7์€ ์ ์‘ ๊ฒŒ์ธ $\gamma$ ๊ฐ’ ๋ณ€๊ฒฝ ์‹œ์˜ $T_{o},\: T_{s}$์˜ ์‘๋‹ต๊ณผ ๊ทธ๋•Œ์˜ ์ œ์–ด์ž…๋ ฅ์ธ $f_{i}$์™€ $v_{o}$๋ฅผ ๊ฐ๊ฐ ๋‚˜ํƒ€๋‚ธ๋‹ค. Fig. 7(a)์—์„œ $T_{o}$์˜ ์ •์ฐฉ์‹œ๊ฐ„์€ $\gamma$ ๊ฐ’์ด ํด์ˆ˜๋ก ์งง๊ฒŒ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ๋˜ํ•œ, ์™ธ๋ž€์ด๋‚˜ ๋…ธ์ด์ฆˆ๊ฐ€ ์ธ๊ฐ€๋  ๋•Œ๋„ ์ œ์–ด๋Ÿ‰ $T_{o}$์™€ $T_{s}$๋Š” ์•ˆ์ •์ ์ธ ์‘๋‹ต์„ ๋ณด์˜€๋‹ค. ํ•˜์ง€๋งŒ $\gamma$ ๊ฐ’์ด ์ง€๋‚˜์น˜๊ฒŒ ํด ๊ฒฝ์šฐ($\gamma =9\times 10^{-2}$)์—๋Š” ์ฃผ ์ œ์–ด๋Ÿ‰์ธ $T_{o}$๊ฐ€ ๋ฐœ์‚ฐํ•˜์˜€๊ณ , Fig. 7(b)์™€ Fig. 7(c)์—์„œ ์กฐ์ž‘๋Ÿ‰ $f_{i}$์™€ $v_{o}$์˜ ๋ณ€๋™ ํญ๋„ ํฌ๊ฒŒ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ๋”ฐ๋ผ์„œ $\gamma$ ๊ฐ’์€ ์ฃผ ์ œ์–ด๋Ÿ‰์ด ๋ฐœ์‚ฐํ•˜์ง€ ์•Š์œผ๋ฉด์„œ ๋น ๋ฅธ ์ •์ฐฉ์‹œ๊ฐ„์„ ๋ณด์ด๋Š” $\gamma =1\times 10^{-3}$์„ ์„ ํƒํ•˜์˜€๋‹ค. Fig. 8์€ ์ƒ์ˆ˜ $\alpha$ ๊ฐ’ ๋ณ€๊ฒฝ ์‹œ์˜ $T_{o}$์™€ $T_{s}$์˜ ์‘๋‹ต ๋ฐ ๊ทธ๋•Œ์˜ ์ œ์–ด์ž…๋ ฅ์ธ $f_{i}$์™€ $v_{o}$๋ฅผ ๊ฐ๊ฐ ๋‚˜ํƒ€๋‚ธ๋‹ค.

Fig. 7 Control performance for H-MRAC according to change of $\gamma$.

../../Resources/sarek/KJACR.2025.37.5.245/fig7.png

Fig. 8 Control performance for H-MRAC according to change of $\alpha$.

../../Resources/sarek/KJACR.2025.37.5.245/fig8.png

์ƒ์ˆ˜ $\alpha$๋Š” ์‹(12)์˜ ๋ถ„๋ชจ๊ฐ€ 0์ด ๋˜๋Š” ๊ฒƒ์„ ๋ฐฉ์ง€ํ•˜๊ณ  ํ•™์Šต ์†๋„์™€ ์ œ์–ด ์•ˆ์ •์„ฑ ์‚ฌ์ด์˜ ๊ท ํ˜•์ž ์—ญํ• ์„ ํ•œ๋‹ค. ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ํ†ตํ•ด Fig. 8(a)์—์„œ $\alpha$ ๊ฐ’์ด ์ž‘์„์ˆ˜๋ก $T_{o}$์™€ $T_{s}$์˜ ์ •์ฐฉ์‹œ๊ฐ„์ด ์งง์•„์ง์„ ํ™•์ธํ•˜์˜€๋‹ค. ๋˜ํ•œ, ์„ค์ •๊ฐ’ ๋ณ€๊ฒฝ ์‹œ์—๋„ ์ œ์–ด๋Ÿ‰ $T_{o}$์™€ $T_{s}$๋Š” ์•ˆ์ •์ ์œผ๋กœ ์ œ์–ด๋จ์„ ํ™•์ธํ•˜์˜€๋‹ค. ์ด๋•Œ Fig. 8(b)์™€ Fig. 8(c)์—์„œ ์กฐ์ž‘๋Ÿ‰ $f_{i}$, $v_{o}$๋„ ์•ˆ์ •์ ์œผ๋กœ ์ œ์–ด๋˜์—ˆ๋‹ค. ๋”ฐ๋ผ์„œ $\alpha$ ๊ฐ’์€ $T_{o}$์™€ $T_{s}$๊ฐ€ ์ ์ ˆํ•œ ์ •์ฐฉ์‹œ๊ฐ„๊ณผ ์ œ์–ด ์•ˆ์ •์„ฑ์„ ๋ณด์ด๋Š” $\alpha =1\times 10^{-5}$๋ฅผ ์„ ํƒํ•˜์˜€๋‹ค. ์„ค๊ณ„ ํŒŒ๋ผ๋ฏธํ„ฐ $\gamma$์™€ $\alpha$ ์ค‘์— $\gamma$๊ฐ€ ์ œ์–ด๋Ÿ‰ ์‘๋‹ต์— ๋” ํฐ ์˜ํ–ฅ์„ ๋ฏธ์น˜๋ฏ€๋กœ $\alpha$ ๊ฐ’์„ ์ž„์˜๋กœ ๊ณ ์ •ํ•œ ํ›„, $\gamma$ ๊ฐ’์„ ๋จผ์ € ๊ฒฐ์ •ํ•˜์˜€๋‹ค.

Fig. 9์™€ Fig. 10์€ PI ๋‹จ๋… ์ œ์–ด๊ธฐ์™€ H-MRAC ์ ์šฉ ์‹œ, ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ์— ๋Œ€ํ•œ ์ œ์–ด ๊ฐ•์ธ์„ฑ์„ ๋น„๊ต ๋ถ„์„ํ•˜๊ธฐ ์œ„ํ•ด ๊ณต์นญ ๋ชจ๋ธ $G_{p}(s)$์˜ ํŠน์„ฑ ํŒŒ๋ผ๋ฏธํ„ฐ์ธ $K_{p}$์™€ $\tau_{p}$ ๊ฐ’์„ ๋ณ€๊ฒฝํ•œ ๊ฒฝ์šฐ์˜ ์ œ์–ด๋Ÿ‰ $T_{o}$์™€ $T_{s}$, ๊ทธ๋ฆฌ๊ณ  ์กฐ์ž‘๋Ÿ‰ $f_{i}$์™€ $v_{o}$์˜ ์‘๋‹ต ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๊ฒฐ๊ณผ์ด๋‹ค. OCS์˜ ์šด์ „ ํ™˜๊ฒฝ ๋ณ€ํ™”๋‚˜ ์žฅ์น˜ ์ž์ฒด์˜ ๊ฒฝ๋…„ ๋ณ€ํ™”์˜ ๊ฒฝ์šฐ์—๋Š” ์ผ๋ฐ˜์ ์œผ๋กœ ๊ณต์นญ ๋ชจ๋ธ์˜ DC ๊ฒŒ์ธ $K_{p}$๋Š” ๊ฐ์†Œํ•˜๊ณ , ์‹œ์ •์ˆ˜ $\tau_{p}$๋Š” ์ฆ๊ฐ€ํ•œ๋‹ค. ๋”ฐ๋ผ์„œ ์‹คํ—˜ ์žฅ์น˜์˜ ์„ฑ๋Šฅ์ด ์—ดํ™” ๋œ ๋‘ ๊ฒฝ์šฐ๋ฅผ ๊ฐ€์ •ํ•˜์—ฌ ์••์ถ•๊ธฐ ์ธก๊ณผ EEV ์ธก์˜ ๊ณต์นญ ๋ชจ๋ธ์„ ๊ฐ•์ œ๋กœ ๋ณ€๊ฒฝ์‹œ์ผฐ๋‹ค. ์ด๋•Œ ์••์ถ•๊ธฐ์™€ EEV ์ธก ๊ณต์นญ ๋ชจ๋ธ์ธ ์‹(13)๊ณผ ์‹(14)์˜ ํŠน์„ฑ ํŒŒ๋ผ๋ฏธํ„ฐ $K_{p},\: \tau_{p}$๋ฅผ ๊ธฐ์กด๊ฐ’ ๊ทธ๋Œ€๋กœ์ธ ๊ฒฝ์šฐ์™€ 0.9$K_{p}$, 1.1$\tau_{p}$๋กœ ๋ณ€๊ฒฝํ•œ ๋‘ ๊ฒฝ์šฐ๋ฅผ ๊ฐ€์ •ํ•˜์—ฌ ๊ฐ๊ฐ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ํ•˜์˜€๋‹ค. ์ด๋Š” ์ฐธ์กฐ ๋ชจ๋ธ์ธ ์‹(16), ์‹(17)๊ณผ ๋น„๊ตํ•˜๋ฉด ํŠน์„ฑ ํŒŒ๋ผ๋ฏธํ„ฐ $K_{p},\: \tau_{p}$๊ฐ€ ๊ฐ๊ฐ 22%, 32% ์—ดํ™” ๋œ ๊ฒฝ์šฐ์— ํ•ด๋‹นํ•œ๋‹ค. Fig. 9์™€ Fig. 10์˜ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๋ถ„์„ ๊ฒฐ๊ณผ, Fig. 10(a)์˜ ์ œ์–ด์„ฑ๋Šฅ์ด Fig. 9(a)์˜ ์ œ์–ด์„ฑ๋Šฅ์— ๋น„ํ•ด ์—ดํ™” ์ •๋„๊ฐ€ ๋” ์ž‘๊ฒŒ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ๋˜ํ•œ, ์กฐ์ž‘๋Ÿ‰ $f_{i}$์™€ $v_{o}$์˜ ๊ฒฝ์šฐ์—๋„ Fig. 10(b), (c)๊ฐ€ Fig. 9(b), (c)์— ๋น„ํ•ด ๋” ์•ˆ์ •์ ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ์œผ๋ฏ€๋กœ H-MRAC์ด ์ œ์–ด๋Ÿ‰ $T_{o}$์™€ $T_{s}$๋ฅผ ๋” ๊ฐ•์ธํ•˜๊ฒŒ ์ œ์–ดํ•จ์„ ํ™•์ธํ•˜์˜€๋‹ค. ์ด๋Š” H-MRAC์˜ ๋งค๊ฐœ๋ณ€์ˆ˜ $\theta$๊ฐ€ ๋ชจ๋ธ์˜ ํŠน์„ฑ ํŒŒ๋ผ๋ฏธํ„ฐ์— ์˜์กดํ•˜์ง€ ์•Š๊ณ  ์ž๋™์œผ๋กœ ์—…๋ฐ์ดํŠธ ๋˜๊ธฐ ๋•Œ๋ฌธ์ด๋‹ค. ๋˜ํ•œ, H-MRAC์€ ๋ชจ๋ธ์˜ ํŠน์„ฑ ํŒŒ๋ผ๋ฏธํ„ฐ๊ฐ€ ๋ณ€๋™ํ•ด๋„ ์ œ์–ด๋Ÿ‰๊ณผ ์กฐ์ž‘๋Ÿ‰์ด ๊ฑฐ์˜ ๋™์ผํ•จ์„ ํ™•์ธํ•˜์˜€๋‹ค. ๋”ฐ๋ผ์„œ H-MRAC์ด ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ ํ•˜์—์„œ๋„ ๋” ๊ฐ•์ธํ•œ ์ œ์–ด์„ฑ๋Šฅ์„ ๋ณด์ž„์„ ํ™•์ธํ•  ์ˆ˜ ์žˆ๋‹ค.

Fig. 9 Control performance for PI controller according to change of characteristic parameters.

../../Resources/sarek/KJACR.2025.37.5.245/fig9.png

Fig. 10 Control performance for H-MRAC according to change of characteristic parameters.

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3.2 ์‹คํ—˜ ๊ฒฐ๊ณผ ๋ฐ ๊ณ ์ฐฐ

Fig. 11๊ณผ Fig. 12๋Š” PI ๋‹จ๋… ์ œ์–ด๊ธฐ์™€ H-MRAC์˜ ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜ ๊ฒฐ๊ณผ๋ฅผ ๊ฐ๊ฐ ๋น„๊ตํ•œ ๊ทธ๋ž˜ํ”„์ด๋‹ค. Fig. 11(a)์˜ ์ œ์–ด์„ฑ๋Šฅ์€ ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜ ๊ฒฐ๊ณผ๊ฐ€ ๊ฑฐ์˜ ๋™์ผํ•˜๊ฒŒ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ์ด๋ฅผ ํ†ตํ•ด ์šฐ์„  ๋ณธ ๋…ผ๋ฌธ์—์„œ ์„ค๊ณ„ํ•œ PI ๋‹จ๋… ์ œ์–ด๊ธฐ์˜ ๊ฒŒ์ธ ๊ฐ’์ด ํƒ€๋‹นํ•จ์„ ์•Œ ์ˆ˜ ์žˆ๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜ ๊ฒฐ๊ณผ๋ฅผ ์—„๋ฐ€ํžˆ ๋น„๊ตํ•˜๋ฉด, Fig. 11(a)์™€ Fig. 11(b)์˜ 3,000~4,000 ์ดˆ ๋ถ€๊ทผ์—์„œ ์ œ์–ด๋Ÿ‰๊ณผ ์กฐ์ž‘๋Ÿ‰์ธ $f_{i}$์— ๋ฏธ์†Œํ•œ ๊ฑฐ๋™ ์ฐจ์ด๊ฐ€ ๋‚˜ํƒ€๋‚˜๊ณ , Fig. 11(c)์—์„œ $T_{s}$์˜ ์กฐ์ž‘๋Ÿ‰์ธ $v_{o}$๋Š” 0~3,000 ์ดˆ๊นŒ์ง€ ๊ฑฐ๋™ ์ฐจ์ด๊ฐ€ ์ง€์†์ ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ์ด๋Š” PI ๋‹จ๋… ์ œ์–ด๊ธฐ๊ฐ€ ๋ชจ๋ธ์˜ ๋ถˆํ™•์‹ค์„ฑ์— ๋Œ€์‘ํ•˜์ง€ ๋ชปํ•œ ๊ฒฐ๊ณผ๋กœ ์ƒ๊ฐ๋œ๋‹ค. Fig. 12(a)์™€ Fig. 12(b), (c)๋Š” H-MRAC์˜ ์ œ์–ด๋Ÿ‰๊ณผ ๋Œ€์‘ํ•˜๋Š” ์กฐ์ž‘๋Ÿ‰์„ ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜์„ ํ†ตํ•ด ๋น„๊ตํ•œ ๊ฒฐ๊ณผ์ด๋‹ค. ์ด ๊ฒฐ๊ณผ๋ฅผ ํ†ตํ•ด H-MRAC์€ ์ œ์–ด๋Ÿ‰์ธ $T_{o}$์™€ $T_{s}$์˜ ์‘๋‹ต๊ณผ ๊ฐ๊ฐ์˜ ์กฐ์ž‘๋Ÿ‰๋“ค์ด ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜์—์„œ ๊ฑฐ์˜ ์œ ์‚ฌํ•จ์„ ์•Œ ์ˆ˜ ์žˆ๋‹ค. ์ด๋Š” ์ œ์•ˆํ•œ H-MRAC์ด ๋ชจ๋ธ ํŒŒ๋ผ๋ฏธํ„ฐ์— ์˜์กดํ•˜์ง€ ์•Š์œผ๋ฏ€๋กœ ์ œ์–ด๋Ÿ‰๊ณผ ์กฐ์ž‘๋Ÿ‰์˜ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๋ฐ ์‹คํ—˜ ๊ฒฐ๊ณผ์—์„œ ๋…ธ์ด์ฆˆ์— ์˜ํ•œ ๋ฏธ์†Œ ๊ฑฐ๋™ ์ฐจ์ด๋งŒ ๋‚˜ํƒ€๋‚œ ๊ฒƒ์œผ๋กœ ์ถ”์ •๋œ๋‹ค. ์ด๋Š” ๋ณธ ๋…ผ๋ฌธ์—์„œ ์„ค๊ณ„ํ•œ H-MRAC์˜ ํƒ€๋‹น์„ฑ์„ ๋‚˜ํƒ€๋‚ธ๋‹ค.

ํ•œํŽธ, Fig. 11(c)์™€ Fig. 12(c)์—์„œ, $T_{s}$์˜ ์กฐ์ž‘๋Ÿ‰ $v_{o}$๋Š” 3,000 ์ดˆ ์ดํ›„๋ถ€ํ„ฐ ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜์—์„œ์˜ ๊ฑฐ๋™ ์ฐจ์ด๊ฐ€ ๋‹ค์†Œ ํฌ๊ฒŒ ๋‚˜ํƒ€๋‚˜๋Š”๋ฐ, ์ด๋Š” ์‹คํ—˜ ์ค‘ ์žฅ์น˜์˜ ์ฃผ๋ณ€ ํ™˜๊ฒฝ์ธ ์™ธ๊ธฐ ์˜จ๋„ $T_{a}$๋ฅผ ์ผ์ •ํ•˜๊ฒŒ ์œ ์ง€ํ•˜์ง€ ๋ชปํ–ˆ๊ณ , ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ์ด ์ปธ๊ธฐ ๋•Œ๋ฌธ์œผ๋กœ ์ถ”์ •๋œ๋‹ค. ํ•˜์ง€๋งŒ H-MRAC๊ณผ PI ๋‹จ๋… ์ œ์–ด๊ธฐ์˜ ์กฐ์ž‘๋Ÿ‰ $v_{o}$๋ฅผ ์ƒํ˜ธ ๋น„๊ตํ•ด ๋ณด๋ฉด, H-MRAC์ด PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค $v_{o}$๋ฅผ ๋” ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๊ฒฐ๊ณผ์— ๊ฐ€๊น๊ฒŒ ์ œ์–ดํ•จ์„ ํ™•์ธํ•  ์ˆ˜ ์žˆ๋‹ค. ๋”ฐ๋ผ์„œ ๋ณธ ๋…ผ๋ฌธ์—์„œ ์„ค๊ณ„ํ•œ H-MRAC์˜ ์ œ์–ด์„ฑ๋Šฅ์€ ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ์— ๊ฐ•์ธํ•จ์„ ์•Œ ์ˆ˜ ์žˆ๋‹ค.

Fig. 11(a)์™€ Fig. 12(a)์˜ ๊ฒฐ๊ณผ๋ฅผ ๋น„๊ตํ•ด ๋ณด๋ฉด, ๋ณธ ๋…ผ๋ฌธ์—์„œ ์„ค๊ณ„ํ•œ H-MRAC์ด ์„ค์ •๊ฐ’ ๋ณ€๊ฒฝ ์‹œ์™€ ์™ธ๋ž€์ธ ์—ด๋ถ€ํ•˜ ๋ณ€๋™์—๋„ ๊ธฐ์กด์˜ PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค ์ฃผ ์ œ์–ด๋Ÿ‰ $T_{o}$์™€ ๋ณด์กฐ ์ œ์–ด๋Ÿ‰ $T_{s}$๋ฅผ ๋”์šฑ ์ •๋ฐ€ํ•˜๊ณ  ๊ฐ•์ธํ•˜๊ฒŒ ์ œ์–ดํ•จ์„ ์•Œ ์ˆ˜ ์žˆ๋‹ค. ๊ฒฐ๊ตญ, H-MRAC์€ ๊ธฐ์กด์˜ PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค ์ „๋‹ฌํ•จ์ˆ˜ ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ๊ณผ ์„ค์ •๊ฐ’ ๋ณ€๊ฒฝ, ์—ด๋ถ€ํ•˜์™€ ๊ฐ™์€ ์™ธ๋ž€ ๋ณ€๋™์— ๋” ๊ฐ•์ธํ•œ ์ œ์–ด์„ฑ๋Šฅ์„ ๋ณด์ž„์ด ํ™•์ธ๋˜์—ˆ๋‹ค.

PI ๋‹จ๋… ์ œ์–ด๊ธฐ์™€ H-MRAC์˜ ์ œ์–ด์„ฑ๋Šฅ์„ ์ •๋Ÿ‰์ ์œผ๋กœ ๋ถ„์„ํ•ด ๋ณด๋ฉด, ์„ค์ •๊ฐ’ ๋ณ€๊ฒฝ ์‹œ $T_{o}$์˜ ์ •์ฐฉ์‹œ๊ฐ„์€ ๊ฐ๊ฐ 2,382 ์ดˆ์™€ 1,615 ์ดˆ, ์ตœ๋Œ€ ์–ธ๋”์ŠˆํŠธ๋Š” 2.55โ„ƒ์™€ 0.17โ„ƒ๋กœ ๊ฐ๊ฐ ๋ฐœ์ƒํ•จ์„ ํ™•์ธํ•˜์˜€๋‹ค. ๋”ฐ๋ผ์„œ H-MRAC์€ PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค ์„ค์ •๊ฐ’ ์ถ”์ข… ํŠน์„ฑ์—์„œ ์ •์ฐฉ์‹œ๊ฐ„์€ 767 ์ดˆ ๋‹จ์ถ•๋˜์—ˆ์œผ๋ฉฐ, ๊ณผ๋„์˜ค์ฐจ๋Š” ์•ฝ 93.3% ๊ฐ์†Œํ•˜์˜€๋‹ค. ๊ฒŒ๋‹ค๊ฐ€ $T_{o}$์˜ ์„ค์ •๊ฐ’ ๋ณ€๊ฒฝ ์‹œ PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋Š” VSC์˜ ๊ธ‰๊ฒฉํ•œ ํšŒ์ „์ˆ˜ ๋ณ€ํ™”๋กœ ์ธํ•œ ๊ฐ„์„ญ ์˜ํ–ฅ์œผ๋กœ $T_{s}$์˜ ์ตœ๋Œ€ ๊ณผ๋„์˜ค์ฐจ๊ฐ€ 6.78โ„ƒ ๋ฐœ์ƒํ•˜๋ฉฐ, H-MRAC์€ 6.52โ„ƒ ๋ฐœ์ƒํ•˜์˜€๋‹ค. ์ด๋ฅผ ํ†ตํ•ด H-MRAC์ด PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค $T_{s}$์˜ ๊ณผ๋„ ํŠน์„ฑ์„ 3.8% ๋” ์ •๋ฐ€ํ•˜๊ฒŒ ์ œ์–ดํ•จ์„ ํ™•์ธํ•˜์˜€๋‹ค. ๋˜ํ•œ, ์—ด๋ถ€ํ•˜ ์ฆ๊ฐ€ ์‹œ PI ๋‹จ๋… ์ œ์–ด๊ธฐ์™€ H-MRAC์˜ ์ฃผ ์ œ์–ด๋Ÿ‰ $T_{o}$์˜ ์ •์ƒ์ƒํƒœ์˜ค์ฐจ๋Š” ๊ฐ๊ฐ 0.06โ„ƒ, 0.01โ„ƒ, ์—ด๋ถ€ํ•˜ ๊ฐ์†Œ ์‹œ์˜ $T_{o}$์˜ ์ •์ƒ์ƒํƒœ์˜ค์ฐจ๋Š” ๊ฐ๊ฐ 0.09โ„ƒ, 0โ„ƒ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ์ด๋ฅผ ํ†ตํ•ด H-MRAC์ด PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค ์—ด๋ถ€ํ•˜ ์™ธ๋ž€์— ๋Œ€ํ•ด ๋” ๊ฐ•์ธํ•œ ์ œ์–ด์„ฑ๋Šฅ์„ ๋ณด์˜€๋‹ค. Fig. 11(b)์™€ Fig. 12(b)๋กœ๋ถ€ํ„ฐ ์กฐ์ž‘๋Ÿ‰ $f_{i}$์˜ ํฌํ™”๊ฐ’ ์ง€์† ์‹œ๊ฐ„์€ H-MRAC์ด PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค ๊ฐ์†Œํ•˜์˜€๋‹ค. ์ด๋Š” H-MRAC์ด ์ œ์–ด๋Ÿ‰ $T_{o}$๋ฅผ ๋” ์ •๋ฐ€ํ•˜๊ฒŒ ์ œ์–ดํ•˜๋ฉด์„œ๋„ ํˆฌ์ž… ์—๋„ˆ์ง€์ธ ์ „๋ ฅ ์†Œ๋น„๋Ÿ‰์€ ์ ์Œ์„ ์˜๋ฏธํ•œ๋‹ค. ํ•œํŽธ ์ œ์•ˆํ•œ H-MRAC ์ œ์–ด๊ณ„๋Š” ๊ทน์ ์ด ๋ชจ๋‘ ๋ณต์†Œ ์ขŒ๋ฐ˜๋ฉด์— ์œ„์น˜ํ•˜๋ฏ€๋กœ ์•ˆ์ •ํ•จ์ด ํ™•์ธ๋˜์—ˆ๋‹ค.

Fig. 11 Comparison results of control performance between simulation and experiment for PI controller.

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Fig. 12 Comparison results of control performance between simulation and experiment for H-MRAC.

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4. ๊ฒฐ ๋ก 

๋ณธ ์—ฐ๊ตฌ์—์„œ๋Š” ๊ฐ€๋ณ€์† ๋ƒ‰๋™์‹œ์Šคํ…œ ๊ธฐ๋ฐ˜์˜ ์˜ค์ผ์ฟจ๋Ÿฌ๋ฅผ ์ œ์–ด๋Œ€์ƒ์œผ๋กœ ๊ฐœ์„ ๋œ MIT ์ ์‘ ๊ทœ์น™์„ ์ด์šฉํ•œ H-MRAC์„ ์„ค๊ณ„ํ•˜๊ณ , ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ ์‹คํ—˜์„ ํ†ตํ•ด ๊ธฐ์กด์˜ PI ๋‹จ๋… ์ œ์–ด๊ธฐ์™€ ์ œ์–ด์„ฑ๋Šฅ์„ ์ƒํ˜ธ ๋น„๊ตํ•˜์˜€๋‹ค. ์ œ์•ˆ๋œ H-MRAC์€ ํ•™์Šต ์†๋„์™€ ์ œ์–ด ์•ˆ์ •์„ฑ ๋ฉด์—์„œ ์žฅ์ ์„ ๊ฐ€์ง€๋ฉฐ, ๋Œ€์กฐ๊ตฐ์ธ PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋‚˜ ๊ธฐ์กด์˜ MIT ๊ทœ์น™์„ ์ ์šฉํ•œ H-MRAC์˜ ๊ฒฝ์šฐ๋ณด๋‹ค ๋” ์—„๋ฐ€ํ•˜๊ณ  ๊ฐ•์ธํ•œ ์ œ์–ด์„ฑ๋Šฅ์„ ๋ณด์˜€๋‹ค. H-MRAC์˜ ์ ์‘ ๊ทœ์น™์— ์‚ฌ์šฉ๋˜๋Š” ์ฃผ์š” ์„ค๊ณ„ ํŒŒ๋ผ๋ฏธํ„ฐ $\gamma$์™€ $\alpha$๋Š” ์˜ค์ผ์ถœ๊ตฌ์˜จ๋„ $T_{o}$์˜ ์ •์ฐฉ์‹œ๊ฐ„๊ณผ ์ œ์–ด ์•ˆ์ •์„ฑ์„ ๊ณ ๋ คํ•˜์—ฌ ๊ฒฐ์ •ํ•˜์˜€๋‹ค. ์ œ์–ด์„ฑ๋Šฅ ๋น„๊ต ๊ฒฐ๊ณผ, ์„ค์ •๊ฐ’ ๋ณ€๊ฒฝ์— ๋Œ€ํ•œ ๋ช…๋ น ์ถ”์ข…์„ฑ์€ ์ œ์•ˆํ•œ H-MRAC์ด PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค ๊ณผ๋„ ํŠน์„ฑ ์ง€ํ‘œ์ธ ์ •์ฐฉ์‹œ๊ฐ„์„ ๋” ๋‹จ์ถ•์‹œํ‚ค๊ณ , ์ตœ๋Œ€ ์–ธ๋”์ŠˆํŠธ๋„ ๋” ์ž‘๊ฒŒ ์ œ์–ดํ•จ์„ ํ™•์ธํ•˜์˜€๋‹ค. ํŠนํžˆ ์—ด๋ถ€ํ•˜ ์™ธ๋ž€์ด ์ธ๊ฐ€๋˜๋Š” ์ƒํ™ฉ๊ณผ ์ „๋‹ฌํ•จ์ˆ˜ ๋ชจ๋ธ ํŒŒ๋ผ๋ฏธํ„ฐ์˜ ๋ถˆํ™•์‹ค์„ฑ ํ•˜์—์„œ๋„ ์ œ์•ˆํ•œ H-MRAC์ด ๊ธฐ์กด์˜ PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค ์ œ์–ด๋Ÿ‰์„ ๋” ์—„๋ฐ€ํ•˜๊ฒŒ ์ œ์–ดํ•จ์œผ๋กœ์จ ์šฐ์ˆ˜ํ•œ ์ œ์–ด ๊ฐ•์ธ์„ฑ์„ ํ™•์ธํ•˜์˜€๋‹ค. ๋ณธ ์—ฐ๊ตฌ์—์„œ ์–ป์€ ๊ฒฐ๊ณผ๋ฅผ ์š”์•ฝํ•˜๋ฉด ์•„๋ž˜์™€ ๊ฐ™๋‹ค.

(1) H-MRAC๊ณผ PI ๋‹จ๋… ์ œ์–ด๊ธฐ์˜ ์ œ์–ด์„ฑ๋Šฅ์„ ๋น„๊ตํ•œ ๊ฒฐ๊ณผ H-MRAC์ด PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค $T_{o}$์™€ $T_{s}$๋ฅผ ๋ชจ๋‘ ๋” ๋น ๋ฅด๊ณ  ๋” ๊ฐ•์ธํ•˜๊ฒŒ ์ œ์–ดํ•˜์˜€๋‹ค.

(2) H-MRAC์€ ์„ค์ •๊ฐ’ ๋ณ€๊ฒฝ ์‹œ์˜ ์ •์ฐฉ์‹œ๊ฐ„์„ PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค 767 ์ดˆ ๋‹จ์ถ•์‹œ์ผฐ์œผ๋ฉฐ, ์ฃผ๋œ ์ œ์–ด๋Ÿ‰์ธ ์˜ค์ผ์ถœ๊ตฌ์˜จ๋„ $T_{o}$์˜ ๊ณผ๋„์˜ค์ฐจ๋ฅผ PI ๋‹จ๋… ์ œ์–ด๊ธฐ ๋Œ€๋น„ 93.3% ๊ฐœ์„ ํ•˜์˜€๋‹ค.

(3) H-MRAC์€ ์••์ถ•๊ธฐ ์ธ๋ฒ„ํ„ฐ ์ฃผํŒŒ์ˆ˜ $f_{i}$์˜ ๊ธ‰๊ฒฉํ•œ ๋ณ€๋™ ์‹œ์—๋„ ๊ณผ์—ด๋„ $T_{s}$์˜ ๊ณผ๋„์˜ค์ฐจ๋ฅผ PI ๋‹จ๋… ์ œ์–ด๊ธฐ๋ณด๋‹ค 3.8% ๊ฐœ์„ ํ•˜์˜€๋‹ค.

(4) H-MRAC์€ ์—ด๋ถ€ํ•˜ ์™ธ๋ž€, ๋ชจ๋ธ ๋ถˆํ™•์‹ค์„ฑ ํ•˜์—์„œ๋„ ์ •์ƒ์ƒํƒœ์˜ค์ฐจ๋ฅผ ํ—ˆ์šฉ ์˜ค์ฐจ ๋ฒ”์œ„ ยฑ0.1โ„ƒ ์ด๋‚ด๋กœ ์—„๋ฐ€ํ•˜๊ฒŒ ์ œ์–ดํ•˜์˜€๋‹ค.

ํ–ฅํ›„, AI ์ˆ˜๋ฒ•์„ ์ด์šฉํ•˜์—ฌ ์ ์‘์ œ์–ด ๊ทœ์น™์˜ ์„ค๊ณ„ ํŒŒ๋ผ๋ฏธํ„ฐ์ธ $\gamma$์™€ $\alpha$๋ฅผ ์ตœ์ ํ™”ํ•˜๋ฉด ๋” ์šฐ์ˆ˜ํ•œ ์ œ์–ด์„ฑ๋Šฅ์„ ํ™•๋ณดํ•  ์ˆ˜ ์žˆ์„ ๊ฒƒ์œผ๋กœ ๊ธฐ๋Œ€๋œ๋‹ค. H-MRAC์€ ์ œ์–ด๊ธฐ์˜ ์ •๊ธฐ์ ์ธ ์œ ์ง€์™€ ๋ณด์ˆ˜๊ฐ€ ์›์ฒœ์ ์œผ๋กœ ๋ถˆํ•„์š”ํ•˜๋ฏ€๋กœ ํ–ฅํ›„ ๊ฐ€๋ณ€์† ๋ƒ‰๋™์‚ฌ์ดํด์˜ ์ œ์–ด๊ธฐ๋กœ์„œ ๊ทธ ํšจ์šฉ ๊ฐ€์น˜๊ฐ€ ํด ๊ฒƒ์œผ๋กœ ๊ธฐ๋Œ€๊ฐ€ ๋œ๋‹ค.

ํ›„ ๊ธฐ

์ด ๋…ผ๋ฌธ์€ 2025๋…„๋„ ์ •๋ถ€(๊ต์œก๋ถ€)์˜ ์žฌ์›์œผ๋กœ ํ•œ๊ตญ์—ฐ๊ตฌ์žฌ๋‹จ์˜ ์ง€์›์„ ๋ฐ›์•„ ์ˆ˜ํ–‰๋œ ๊ธฐ์ดˆ์—ฐ๊ตฌ์‚ฌ์—…์ž„(No. RS-2021-NR066027).

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