• 대한전기학회논문지:시스템및제어부문D
• /
• 제53권6호
• /
• pp.408-414
• /
• 2004

In this paper, a disturbance observer based sliding mode control is proposed to attenuate disturbance responses in an active magnetic bearing system, which is subject to base motion. An algorithm which decouples disturbance observation dynamics from sliding mode dynamics is suggested. This algorithm preserves the robustness of the sliding mode control and satisfies reachability condition in the presence of external disturbance and parameter uncertainties. Along with experimental results, it is shown that the proposed control is effective in disturbance rejection without any additive disturbance measurement.

• 한국소음진동공학회논문집
• /
• 제14권11호
• /
• pp.1182-1194
• /
• 2004

This paper addresses the application of an active magnetic bearing (AMB) system to levitate the elevation axis of an electro-optical sight mounted on a moving vehicle. In this type of system, it is desirable to retain the elevation axis in an air-gap between magnetic bearing stators while the vehicle is moving. To eliminate disturbance responses, a disturbance observer based sliding mode control is developed. This control can decouple disturbance observation dynamics from sliding mode dynamics and preserves the robustness of the sliding control. The sliding surfaces are designed in the consideration of scattering of received image. The proposed control is applied to a 2-DOF active magnetic bearing system subject to base motion. Along with experimental results, the feasibility of the proposed technique is illustrated.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2004년도 춘계학술대회
• /
• pp.846-851
• /
• 2004

In this paper, a sliding mode control based on disturbance observer is proposed to attenuate disturbance responses in an active magnetic bearing system, which is subject to base motion. An algorithm for exactly decoupling the disturbance estimation dynamics from the sliding mode dynamics is developed. It is also shown that the proposed method preserves the robustness of the sliding mode and asymtotically achieves zero regulation error, in the presence of external disturbances and parametric uncertainties. The proposed control is applied to a 2-DOF active magnetic bearing system subject to base motion. The feasibility of the proposed technique is illustrated, and the results of an experimental demonstration are shown.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2004년도 춘계학술대회논문집
• /
• pp.228-232
• /
• 2004

This paper is to identify the position of random disturbance on flexible dynamic system, and the position of the piezo ceramic actuator 0 minimize tip response. Correlation of the output signals from each parts on flexible system is used to identify the position of random disturbance. Except the correlation with an output signal from the position of random disturbance, other correlations have time delay. This is a base idea to identify the position on this study.

• 한국정밀공학회지
• /
• 제21권2호
• /
• pp.74-82
• /
• 2004

In this paper, a disturbance feedforward compensator design technique is proposed for an active magnetic bearing system subject to base motion for attenuating disturbance responses. In the consideration of the requirements on the model accuracy in the model based compensator designs, an experimental feedforward compensator design based on adaptive estimation by means of the Multiple Filtered-x least mean square(MFXLMS) algorithm is proposed. The performance and the effectiveness of the proposed technique will be presented in the succeeding paper in which the proposed technique is applied to a 2-DOF active magnetic bearing system subject to base motion.

• 드라이브 ㆍ 컨트롤
• /
• 제14권2호
• /
• pp.9-15
• /
• 2017

The steering systems of all-terrain cranes have been developed with various control strategies for the stability and drivability. To optimally control the input steering angle, an accurate mathematical model that represents the actual crane dynamics is required. The derivation of an accurate mathematical model to optimally control the steering angle, however, is difficult since the steering-control strategy generally varies with the magnitude of the crane's longitudinal velocity, and the postures of the crane's working parts vary while it is being driven. To address this problem, this paper proposes an automatic steering-control algorithm that is based on the MPC (model predictive control) with a disturbance observer for all-terrain cranes. The designed disturbance observer of this study was used to estimate the error between the base steering model and the actual crane. A model predictive controller was used for the computation of the optimal steering angle, along with the use of the base steering model with an estimated uncertainty. Performance evaluations of the designed control algorithms were conducted based on a curved-path scenario in the Matlab/Simulink environment. The performance-evaluation results show a sound reference-path-tracking performance despite the large uncertainties.

• The Journal of Korean Physical Therapy
• /
• 제12권1호
• /
• pp.65-71
• /
• 2000

This study investigated the effect of anticipatory postural adjustment on balance performance in postural disturbance. Any action performed by standing subject is generally accompanied by compensatory postural activities, which reduce or abolish the postural disturbance generated by the movement and keep the subjects' center of gravity within the supporting base. These Postural activities arc triggered by either anticipatory and feedback postural control. We studied the difference of anticipatory and feedback postural control in postural disturbance. The subjects were standing on a foot plate with eyes closed, holding a lead of $5\%$ of their own body weight in their hands. The condition of anticipatory postural adjustment was applied voluntarily releases the a load. The condition of feedback postural control was applied that the load was unpredictably removed. We concluded that anticipatory postural adjustment becomes more efficient to postural performance in postural disturbance.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.87.4-87
• /
• 2001

In this paper, a design guideline of disturbance observer(DOB) for track-following controller is presented. In the track-following control system(TFCS) of optical disk drive(ODD), disturbance rejection is the key issue for the overall performance. DOB gives an excellent advantage of disturbance rejection within its bandwidth determined by a low-pass filter. In general, design of DOB requires a tradeoff between performance and stability, which should be based on quantitative analysis. The external disturbance is well-defined in the frequency domain, which provides the base of the analysis. In addition to a DOB, a proper feedback controller is utilized for guaranteeing overall stability. Some computer simulations and experiments are conducted and some of the results are presented.

• 한국산림과학회지
• /
• 제108권3호
• /
• pp.296-301
• /
• 2019

This study was conducted to measure litterfall and nutrient (P, K, Ca, Mg) inputs under varying degrees of disturbance by pine wilt disease in pine forests in southern Korea. Litterfall was collected to evaluate nutrient responses at different intensities of disturbance (various levels of basal area) by pine wilt disease across 2 years. Phosphorus, Ca, and Mg concentrations in needle litterfall were positively correlated (p < 0.05) with decreased disturbance intensities (increased basal area) depending on the time of sampling, whereas the nutrient concentrations in other litterfall components (branches, bark, reproductive organs, and miscellaneous litterfall) were not significantly correlated (p > 0.05) with the intensity of pine wilt disease disturbance. Dry weight and nutrient inputs through litterfall components decreased linearly with increasing intensity of disturbance by pine wilt disease (p < 0.05), except for the nutrient inputs of branch (K, Ca, Mg) and reproductive organ (K, Ca) litterfall. These results indicate that decreased litterfall across different levels of disturbance may be related to the reduced soil nutrients in pine wilt disease forests.

• The Korean Journal of Physiology
• /
• 제24권1호
• /
• pp.123-129
• /
• 1990

A comparative study of acid-base balance has been made between acidemia-induced hyperkalemia and hyperkalemia-induced acidemia. A group of rabbits was infused 0.1 N hydrochloric acid solution and metabolic acidosis was induced. Another group was administered 20 mM potassium chloride solution and hyperkalemia was induced. The third group was infused 0.1 N hydrochloric acid and 20 mM potassium chloride solution, simultaneously. Acid-base data and plasma potassium ion concentration were monitored every thirty minutes in these three groups of rabbits. Following results were obtained: 1 ) Along with the infusion of hydrochloric acid, acute metabolic acidosis was induced in the rabbits. Plasma bicarbonate ion concentration decreased primarily in this group. As a respiratory compensation, there was a tendency of reduction of arterial $Pco_{2}$. The alteration of data became larger along with the amount of administration and the time elapsed. However, hyperkalemia was not so severe compared with the second group. 2) In potassium chloride infused group, plasma potassium ion concentration increased along with the time elapsed and the amount of infusion. And the alteration of acid-base data was parrallel to the level of potassium ion concentration, above all depression of pH was prominent. 3) Above data suggest that when acute metabolic acidosis was induced, exchange of intracellular potassium ion with extracellular hydrogen ion seems significant for the regulation of extracellular acid-base balance. And when hyperkalemia was induced with the infusion of potassium chloride solution, the exchange of intracellular hydrogen ion with extracellular potassium ion also seems significant for the regulation of extracellular potassium balance. 4) In the group of rabbits infused hydrochloric acid and potassium simultaneously, disturbances of acid-base balance and potassium balance were much more severe than two other groups. In these mixed disturbances, the process of compensatory mechanism might be inhibited and one disturbance might aggregate each other. 5) Through above data it has been postulated that in acid-base disturbance potassium balance can be sacrificed as a compensatory mechanism, and vice versa in disturbance of potassium balance. And our data also suggest that hydrogen ion and potassium ion are compensatory pair, one another.