• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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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.

• 대한전자공학회논문지
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• 제27권2호
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• pp.55-64
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• 1990

직류 전동기의 위치 및 속도 제어를 위해 그동안 주로 사용해 왔던 고전적인 선형 PID 제어 알고리듬을 사용하여 왔으나, 주위환경의 변화나 부하의 변경 또는 외란과 같은 비션형 요소들로 인해 실제 시스템의 모델링에는 많은 제한이 따랐다. 이 문제를 해결하기 위해 시스템의 모델링 없이 매개변수들을 온라인으로 추정하여 식별할 수 있는 PID 자기 동조기의 설계 방법을 제안하였다. 본 논문에서는 극 배치 PID 자기 동조 제어기의 설계 기법을 제안하고, 각각의 제어기 매개변수들을 추정하기 위하여 순환 최소자승 알고리듬을 사용하야T으며, Diophantine 방정식의 도입으로 인한 4개의 추가매개 변수들을 추정된 제어기 매개변수들을 이용하여 새롭게 유도된 방정식에서 구하였다. 제안된 제어기의 성능을 평가하기 위하여 최소, 비최소 위상 시스템에 대한 시뮬레이션을 하였고 실제 로보트 매니플레이터용 DC 서어보 전동기에 대하여 무부하와 부하 실험을 거쳐 그 특성이 양호함을 검증하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 B
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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.

• 대한기계학회논문집A
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• 제24권10호
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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.

• 대한기계학회논문집
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• 제14권3호
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• pp.513-525
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• 1990

본 연구에서는 ARSC의 이론적인 전개에 대해서 주로 설명하고자 한다. 제2 장에서는 ARSC의 구조를 자세히 기술하며, 제3장에 ARSC를 컴퓨터에 이식하기 위한 알 고리즘을 요약하여 제시한다. 또한, ARSC알고리즘이 총체적으로(globally) 수렴하며 안정하다는 이론적 증명에 대하여 제4장에서 언급하며, 마지막으로 제5장에 실시간 시 뮬레이션을 통하여 ARSC의 간단한 적용실례를 들었다. 실제로 본 ARSC는 엔드밀링의 절삭력 적응제어에 적용되었는데, 그 연구결과는 별도로 발표할 예정이다.

• 대한의용생체공학회:의공학회지
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• 제28권4호
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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.

• 드라이브 ㆍ 컨트롤
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• 제18권4호
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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.

• 천문학회보
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• 제40권1호
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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.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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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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• 제4권4호
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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.