• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.324-327
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• 1996

This paper describes the robust controller design methods applied to the problem of an automatic system for tow-vehicle/trailer combinations. This study followed an inverse Linear Quadratic Regulator(LQR) approach which combines pole assignment methods with conventional LOR methods. It overcomes two concerns associated with these separate methods. It overcomes the robustness problems associated with pole placement methods and trial and error required in the application of the LQR problem. Moreover, a Kalman filter is used as the observer, but is modified by using the loop transfer recovery (LTR) technique with modified transmission zero assignment. The proposed inverse LQG,/LTR controllers enhances the forward motion stability and maneuverability of the combination vehicles. At high speeds, where the inherent yaw damping of the vehicle system decreases, the controller operates to maintain an adequate level of yaw damping. At backward moton, both 4WS (2WS tow-vehicle, 2WS trailer) and 6WS (4WS tow-vehicle, 2WS trailer) control laws are proposed by using inverse LQG/LTR method. To evaluate the stability and robustness of the proposed controllers, simulations for both forward and backward motion were conducted using a detailed nonlinear model. The proposed controllers are significantly more robust than the previous controllers and continues to operate effectively in spite of parameter perturbations that would cause previous controllers to enters limit cycles or to loose stability.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.2
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• pp.55-64
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• 1990

This paper concerned about a study on the direct pole placement PID self-tuning controller design for DC servo motor control system. The method of a direct pole placement self-tuning PID control for a DC servo motor of Robot manipulator tracks a reference velocity in spite of the parameters uncertainties in nonminimum phase system. In this scheme, the parameters of classical controller are estimated by the recursive least square (RLS)identification algorithm, the pole placement method and diophantine equation. A series of simulation in which minimum phase system and nonminimum phase system are subjected to a pattern of system parameter changes is presented to show some of the features of the proposed control algorithm. The proposed control algorithm which shown are effective for the practical application, and experiments of DC servo motor speed control for Robot manipulator by a microcomputer IBM-PC/AT are performed and the results are well suited.

• Proceedings of the KIEE Conference
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• 2001.07b
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• pp.608-610
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• 2001

In this paper, 6/4 Switched Reluctance Motor(SRM) which has simple structure and little switching element is selected basic analysis model. In order to reduce torque ripple causing noise and vibration, we execute optimization of geometric parameters (stator and rotor pole arc) and electrical parameters (turn-on angle and turn-of angle) by means of combining Fletcher-Reeves's Conjugate Directions and Finite Element Method (FEM) considering driving circuits. When considering the switching condition according to inductance profile, torque characteristics is influenced by geometric and electrical parameters importantly. The pole arc and switching angle of the optimum can also obtain the low torque ripple without high currents.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.10 s.181
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• pp.2487-2495
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• 2000

The acoustic characteristics of expansion chamber will be changed with the variation of inlet/outlet location due to the higher order acoustic mode in a high frequency in which the plane wave theory is not available. In this paper, the acoustic performance of reactive type expansion chamber with circular cross-section is analyzed by using the modified mode matching theory. The sensitivity analysis of four-pole parameters with respect to the location of inlet and outlet is also suggested to increase the acoustic performance. The acoustic power transmission coefficient is used as cost function, and the location of inlet and outlet is used as design variables. The steepest descent method and SUMT algorithm are used for optimization technique. Several results showed that the expansion chamber with optimally located inlet/outlet had better acoustic performance than concentric expansion chamber.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.3
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• pp.513-525
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• 1990

This paper presents Adaptive Robust Servocontrol(ARSC) scheme, which is an explicit(or indirect) pole-assignment adaptive algorithm with the property of "robustness". It guarantees asymptotic regulation and tracking in the presence of finite parameter perturbations of the unknown plant(or process) model. The controller structure is obtained by transforming a robust control theory into an adaptive control version. This controller structure is combined with the model estimation algorithm which includes a dead-zone for bounded noise. It is proved theoretically that this combination of control and identification is globally convergent and stable. It is also shown, through a real-time simulation study, that the desired closed-loop poles of the augmented system can be assigned directly, and that the adjustment mechanism of the scheme tunes the controller parameters according to the assigned closed-loop poles.oop poles.

• Journal of Biomedical Engineering Research
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• v.28 no.4
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• pp.530-538
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• 2007

Magnetocardiography (MCG) is a device to measure the magnetic field from the heart. It is a noninvasive device and takes only few minutes to record magnetocardiogram from a subject. In this study, we compared the difference of MCG data recorded from 56 normal subjects in early twenties (28 males and 28 females, mean $age=21.0{\pm}1.6$ years) and 36 elderly subjects (20 males and 16 females, mean $age=61.9{\pm}6.9$ years) for the analysis of the age and gender difference. A total of 24 parameters used in the analysis were derived from QRS complex, R-wave, T-wave, and ST-T period. As a result, seven parameters including maximum current angle and map angle showed the significant difference (p<0.01 and p<0.05, respectively) between young males and young females. Significant difference (p<0.05) between elderly males and elderly females was found from a parameter, pole distance at T-wave peak. In the comparison of age difference, seven parameters regarding current moment, pole distance, and dynamics showed the significant difference between young and elderly males. Eight parameters also showed significant difference (p<0.05) between two younger and elderly female groups. Results showed that parameters regarding current moment, pole distance, and dynamics might be changed when people get older. In conclusion, gender and age difference should be considered when MCG data are analyzed for certain parameters.

• Journal of Drive and Control
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• v.18 no.4
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• pp.52-58
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• 2021

The variable structure controller is designed such that in sliding mode, the system moves along the switching plane in the vicinity of the switching plane, thus it is robust because it is not affected by the parameter fluctuations of the plant. However, a controller based on a variable structure may not meet the desired performance when it is commanded to track any input or is exposed to disturbances. This study proposes a sliding mode controller that follows the IVSC (Integral Variable Structure Control) approach with ELO (Extended Luenberger observer) to solve this problem. The proposed sliding mode control is applied to the velocity control of the hydraulic motor. The sliding plane was determined by the pole placement, and the control input was designed to ensure the existence of the sliding mode. The feasibility of modeling and controller are reviewed by comparing with conventional proportional-integral control through computer simulation using MATLAB software and experimenting on the cases of significant plant parameter fluctuations and disturbances.

• The Bulletin of The Korean Astronomical Society
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• v.40 no.1
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• pp.75.3-75.3
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• 2015

Large area infrared surveys are often accompanied with follow-up optical spectroscopic surveys that has a significant legacy value even for other areas of research. Using these spectral database, we have performed a search for MgII absorption lines in the optical spectrum of background quasar. Over the ~4deg2 of AKARI North Ecliptic Pole survey field and Spitzer First Look Survey field, 18 and 16 MgII absorber systems are identified respectively. The redshift range for the background quasars was 1.0<$z_{qso}$<3.4, while the redshift range for the absorber was 0.6<$z_{abs}$<1.6. Galaxies responsible for MgII absorptions are identified in the deep optical images (CFHT r-band), yet the identification still remains ambiguous for 60% of the systems due to the limited image depth and the source crowdedness. The impact parameter ranges 20-60kpc, and the rest-frame equivalent width of MgII absorption ranges $0.7-4{\AA}$. The most critical part in the identification of MgII absorber galaxies is the existence of deep optical images in addition to the high S/N quasar spectrum with R>3000.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.625-628
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• 2005

Silencers are extensively used for reducing noise in an exhaust system of internal combustion Engine and fluid machineries. The prediction and measurement of the transmission loss as the acoustic performance of silencers are important in early design stage. In the measurement of transmission loss, the semi-anechoic terminations are general used for reducing unwanted effects by reflecting wave. However it is very hard to remove reflecting wave perfectly. So the research about the error made by reflecting wave is important. The analysis about errors made by reflections and modification techniques are proposed. For an application example, the diesel particulate filter (DPF) is chosen. The transmission loss of DPF is measured with and without considerations of reflecting wave.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.330-340
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• 2002

In this Paper. a non-linear approach to a design of model reference adaptive control is presented. The approach is demonstrated by a case study of a simple single-pole and no zero, linear, discrete-time plant. The essence of the idea is to generate a full non-linear model of the plant dynamics and the parameter adaptation dynamics as a gradient descent algorithm with respect to a Riemannian metric. It is shown how a Riemannian metric can be chosen so that the modelled plant dynamics do in fact match the true plant dynamics. The performance of the proposed scheme is compared to a traditional model reference adaptive control scheme using the classical sensitivity derivatives (Euclidean gradients) for the descent algorithm.