• 한국정밀공학회지
• /
• 제21권5호
• /
• pp.55-63
• /
• 2004

This paper presents neural network based controller using the feedback error loaming technique for a heavy load pointing system. Also the mathematical model was developed to analyze heavy load pointing system. The control scheme consists of a feedforward neural network controller and a fixed-gain feedback controller. This neural network controller is trained so as to make the output of the feedback controller zero. The proposed controller is compared with the conventional PI controller through simulations, and the results show that the pointing accuracy of the proposed control system are improved against the disturbance induced by vehicle running on the bump course.

• 한국정밀공학회지
• /
• 제8권2호
• /
• pp.47-56
• /
• 1991

The specifications needed for the mobile cranes are summarized as the following : 1) there may be not occured the oscillation of the cargo at unloading point. 2)the required time from departure point to destination point may be as short as possible. 3) there may be not a collapse of cargo caused by the oscillation in the course that the crago is mobilling. In this paper, the linear fractional transformation method is adopted as a method in order to improve the above mentioned problems. A design method of servo system is developed by modifying Davison's method for the case that the homogeneous differential equations of reference input and disturbance are different types. The real time control of a mobile crane system is implemented by 16bits microcomputer with A/D and D/A converters to illustrate the application of the adopted method. The experimental results for the three types of the design methods; linear fractional transformation method, servo system design method and optimal control method are shown for the comparison.

• 아시안잔디학회지
• /
• 제26권1호
• /
• pp.44-53
• /
• 2012

친환경적인 코스관리를 위해 가축분뇨액비를 활용하는 것은 매우 효과적인 방법이지만 시비 후 토양 및 주변수계에 미치는 영향에 대한 조사는 미흡하다. 가축분뇨액비(SCB)와 화학비료(CF)를 살포한 후 토양과 수질을 주기적으로 모니터링하여 골프코스의 환경에 미치는 영향을 평가하였다. SCB 액비의 시비는 화학비료 시비 때보다 골프코스의 토양오염은 나타나지 않았고, 유기물함량, 양이온치환용량 및 치환성 칼슘이 감소하였다(P<0.01). 주변 연못물의 모니터링에서 수질의 오염은 나타나지 않았으며, SCB가 시비된 주변연못의 pH와 질소함량이 감소하였다(P<0.01). 토양과 수질의 특성 조사에서 SCB의 시비는 토양 중 유기물과 양이온치환용량을 감소시키고, 수질의 SAR를 증가시킨다(P<0.01). SCB와 CF의 질소시비는 토양의 질소함량 변화와 상관성이 높으나(P<0.01), 수질에 미치는 영향은 적었다. 이러한 결과를 종합할 때, 골프코스에서 SCB의 시비는 토양과 수질의 오염은 나타나지 않으며, 토양의 유기물과 연못물의 pH가 감소되어 토양의 대취량과 연못물의 조류의 감소효과가 기대되었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.296-300
• /
• 2003

The autopilot system targets decreasing labor, working environment improvement, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization. Dynamic Ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And Load Condition of ship as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that is disturbance act in non-linear from, become factor who make serv ice of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using fuzzy algorithm ,Design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

• Journal of Advanced Marine Engineering and Technology
• /
• 제25권1호
• /
• pp.199-208
• /
• 2001

In this paper, an automatic route tracking algorithm using the position variables and the yaw angle of a ship is suggested, Since most autopilot systems paly only a role of course-keeping by integrating the gyrocompass output, they cannot cope with position errors between the desired route and real route of the ship resulted from a drifting and disturbances such as wave, wind and currents during navigation. In order for autopilot systems to track the desired route, a method which can reduce such position errors is required and some algorithms have been proposed[1,2]While such were turned out effective methods, they have a shortage that the rudder control actions for reducing the position errors are occurred very frequently. In order to improve this problem it is necessary to convert that error into the corresponding yaw angle and necessary to treat only yaw angle control problem. To do this a command generation algorithm which converts the rudder angle command reducing the current position error into they yaw angle command is suggested. To control the ship under disturbances and nonlinearities of the ship dynamics, the adaptive fuzzy controller is developed. Finally, through computer simulations for two ship models, the effectiveness of the suggested method and the possibility of the automatic route tracking are assured.

• 드라이브 ㆍ 컨트롤
• /
• 제16권4호
• /
• pp.48-55
• /
• 2019

The Electronic Stability Program (ESP), a system that improves vehicle safety, also known as YMC (Yaw Motion Controller) or VDC (Vehicle Dynamics Control), is a system that operates in unstable or sudden driving and braking situations. Developing conditions such as unstable or sudden driving and braking situations in a vehicle are very dangerous unless you are an experienced professional driver. Additionally, many repetitive tests are required to collect reliable data, and there are many variables to consider such as changes in the weather, road surface, and tire condition. To overcome this problem, in this paper, hardware and control software such as the ESP controller, vehicle engine, ABS, and TCS module, composed of three control zones, are modeled using MATLAB/SIMULINK, and the vehicle, climate, and road surface. Various environmental variables such as the driving course were modeled and studied for the real-time ESP real-time simulator that can be repeatedly tested under the same conditions.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2000년도 하계학술대회 논문집 D
• /
• pp.2880-2882
• /
• 2000

In the case of designing autonomous robot architecture using deliberative and reactive control methods, we can use mixed hybrid form as well as purely reactive scheme or purely deliberative scheme respectively according to its own goal and environment within the robot operates, It needs time and endeavors to design robot control architecture in either case above. In our research, we implemented a 3-dimensional robot simulator in order to help designing reactive/deliberative autonomous robot control architecture by offering methods which is capable of selecting design parameters and confirming its performances. It can be used, of course, to design purely reactive or purely deliberative architecture. The architecture and performance of simulator is shown and a sample hybrid robot architecture designed with the simulator is introduced in this article.

• Journal of Electrical Engineering and Technology
• /
• 제8권4호
• /
• pp.899-910
• /
• 2013

This paper presents a novel lateral stability control system for electric vehicle based on sideslip angle estimation through Kalman filter using the integration of a single antenna GPS receiver and yaw rate sensor. Using multi-rate measurements including yaw rate and course angle, time-varying parameters disappear from the measurement equation of the proposed Kalman filter. Accurate sideslip angle estimation is achieved by treating the combination of model uncertainties and external disturbances as extended states. Active front steering and direct yaw moment are integrated to manipulate sideslip angle and yaw rate of the vehicle. Instead of decoupling control design method, a new control scheme, "two-input two-output controller", is proposed. The extended states are utilized for disturbance rejection that improves the robustness of lateral stability control system. The effectiveness of the proposed methods is verified by computer simulations and experiments.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
• /
• pp.1084-1091
• /
• 2011

The primary purpose of the safety management is to prevent the loss of lives or physical damages arising from potential hazards in the railway signaling system. Since such potential hazards may occur at any time during the system life-cycle from design and development to maintenance, safety management activities have to be continuously taken in the course of the system life-cycle. In this paper, presented for Safety Activity Process. (Phase, Methods, Documentation)

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.8-10
• /
• 1997

In recent years, the metal industry has become increasingly aware of an unwanted component in metal scrap-radioactive material. Worldwide, there have 38 instances where radioactive sources were unintentionally smelted in the course of recycling metal scrap. In some cases contaminated metal consumer products were distributed internationally. U.S. mill that have smelted a radioactive source face costs resulting from decontamination, waste disposal, and lost profits that range from 7 to 23 million U.S. dollars for each case. Despite radiation monitoring system does not provide 100% protection, POSCO has developed the system for the first time in the steel industry of KOREA.