• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.76.4-76
• /
• 2001

ESR(ElectroSlag Remelting) Process is secondary fine process and melts steels by electric resistance heat and fines the melting steels by an approproate solidification process. The final products are determined through the velocity of melting and the course of solidification in the process that is achieved by way of proper course of solidification. Thus, it is very important to monitor and control the process parameters which affects the melting and solidification process to get the high quality products. This paper describes a method to derive the mathematical model and analysis the dynamic characteristics for designing a controller of the ESR processes. The process consists of a melting and solidifying process and electrical system include the contact resistance mechanism ...

• Journal of the Korea Institute of Military Science and Technology
• /
• v.18 no.2
• /
• pp.181-188
• /
• 2015

This paper present, the result of the guidance and control law for a course correction munitions(CCM) with 2sets of canards positioned in the rotating nose section. The nonlinear simulation model of the CCM was developed based on 7DOF equation of motion. The ability of correcting position was verified by open-loop control input with nonlinear model. The guidance and control command was constructed by reference trajectory which can be obtained with no control. Finally, the performance of the guidance and control law was evaluated through Monte-carlo simulation. The CEP(Circular Error Probability) was obtained by considering the errors in muzzle velocity, aerodynamic coefficient, wind, elevation and azimuth angle and density.

• Journal of Navigation and Port Research
• /
• v.44 no.5
• /
• pp.423-429
• /
• 2020

A ship's automatic steering system is the basis for addressing control difficulties related to course-changing and course-keeping during navigation through heading angle control, and is a link in realizing unmanned and autonomous ships. This study proposes a robust RCGA-based linear active disturbance rejection controller (LADRC) design method considering environmental disturbances, measurement noise, and model uncertainties in designing a ship heading controller for use when the ship is sailing. The LADRC consisted of a transient profile, a linear extended state observer, and a PD controller. The control gains in the LADRC with the linear extended state observer were adjusted by RCGAs to minimize the integral of the time-weighted absolute error (ITAE), which is an evaluation function of the control system. The proposed method was applied to ship heading control, and its effectiveness was validated by comparing the propulsive energy loss between the proposed method and a conventional linear PD controller. The simulation results showed that the proposed method had the advantages of lower propulsive energy loss, more robustness, and higher tracking precision than the conventional linear PD controller.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.59 no.2
• /
• pp.145-154
• /
• 2023

In this study, to control the heading angle of a ship, which is constantly subjected to various internal and external disturbances during the voyage, an LADRC (linear active disturbance rejection control) design that focuses more on improving the disturbance removal performance was proposed. The speed rate of change of the ship's heading angle due to the turn of the rudder angle was selected as a significant factor, and the nonlinear model of the ship's maneuvering equation, including the steering gear, was treated as a total disturbance. It is the similar process with an LADRC design for the first-order transfer function model. At this time, the gains of the controller included in LADRC and the gains of the extended state observer were tuned to RCGAs (real-coded genetic algorithms) to minimize the integral time-weighted absolute error as an evaluation function. The simulation was performed by applying the proposed GA-LADRC controller to the heading angle control of the Mariner class vessel. In particular, it was confirmed that the proposed controller satisfactorily maintains and follows the set course even when the disturbances such as nonlinearity, modelling error, uncertainty and noise of the measurement sensor are considered.

• Proceedings of the Korean Radioactive Waste Society Conference
• /
• 2017.10a
• /
• pp.41-42
• /
• 2017

• 제어로봇시스템학회:학술대회논문집
• /
• 1995.10a
• /
• pp.440-443
• /
• 1995

A control strategy for random parametic system by using FLC is investigated and developed. In the course of research, as a first part, nonlinear system under random disturbance is investigated. Preliminary results is presented in the paper. A control technique, GA based FLC, is employed successfully for inverted pendulum experiencing white noise excitation.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.59 no.1
• /
• pp.44-54
• /
• 2023

In this study, the second-order Nomoto's nonlinear expansion model was implemented as a Tagaki-Sugeno fuzzy model based on the heading angular velocity to design the automatic steering system of a ship considering nonlinear elements. A Tagaki-Sugeno fuzzy PID controller was designed using the applied fuzzy membership functions from the Tagaki-Sugeno fuzzy model. The linear models and fuzzy membership functions of each operating point of a given nonlinear expansion model were simultaneously tuned using a genetic algorithm. It was confirmed that the implemented Tagaki-Sugeno fuzzy model could accurately describe the given nonlinear expansion model through the Zig-Zag experiment. The optimal parameters of the sub-PID controller for each operating point of the Tagaki-Sugeno fuzzy model were searched using a genetic algorithm. The evaluation function for searching the optimal parameters considered the route extension due to course deviation and the resistance component of the ship by steering. By adding a penalty function to the evaluation function, the performance of the automatic steering system of the ship could be evaluated to track the set course without overshooting when changing the course. It was confirmed that the sub-PID controller for each operating point followed the set course to minimize the evaluation function without overshoot when changing the course. The outputs of the tuned sub-PID controllers were combined in a weighted average method using the membership functions of the Tagaki-Sugeno fuzzy model. The proposed Tagaki-Sugeno fuzzy PID controller was applied to the second-order Nomoto's nonlinear expansion model. As a result of examining the transient response characteristics for the set course change, it was confirmed that the set course tracking was satisfactorily performed.

• Korean Journal of Agricultural Science
• /
• v.38 no.2
• /
• pp.243-248
• /
• 2011

This investigation was conducted to develop an integrated disease management system against large patch disease occurred in a golf course. Large patch, brown patch, and Rhizoctonia blight sometimes are used interchangeably by turfgrass managers and researchers, Large patch disease of zoysiagrass is caused by a soilborne fungus called Rhizoctonia solani. Although this fungus is very similar to the one that causes brown patch disease of cool-season turfgrasses in mid-summer. Large patch development is favored by high thatch and soil moisture. Avoid overwatering the turfgrass, especially in the fall or early spring. Poorly-drained areas are very susceptible to injury from large patch and should be reconstructed (draining tiles, etc) to avoid soil saturation. However, control of yellow patch with fungicides is normally not recommended because the disease has only cosmetic effects and symptoms are usually very short-lived. Therefore, we reviewed the symptom of large patch to look for control method by soil management method.

• Journal of Advanced Navigation Technology
• /
• v.2 no.2
• /
• pp.84-99
• /
• 1998

As a part of closed-loop guidance law studies for anti-ballistic missile defense, a mid-course guidance law is proposed to engage the target with the predetermined attitude for increased terminal effectiveness. The proposed guidance law is based on the predicted target position calculated from a simplified solution of target motion and the estimates of an extended Kalman filter utilizing noisy nonlinear radar measurements. Extension of the proposed mid-course guidance to 3 dimensional engagements are also studied. Performance of the proposed mid-course guidance law together with a terminal guidance law in the form of conventional proportional navigation guidance is evaluated by a series of simulation studies.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.9 no.5
• /
• pp.525-536
• /
• 2017

Course keeping is hard to implement under the condition of the propeller stopping or reversing at slow speed for berthing due to the ship's dynamic motion becoming highly nonlinear. To solve this problem, a practical Maneuvering Modeling Group (MMG) ship mathematic model with propeller reversing transverse forces and low speed correction is first discussed to be applied for the right-handed single-screw ship. Secondly, a novel PID-based nonlinear feedback algorithm driven by bipolar sigmoid function is proposed. The PID parameters are determined by a closed-loop gain shaping algorithm directly, while the closed-loop gain shaping theory was employed for effects analysis of this algorithm. Finally, simulation experiments were carried out on an LPG ship. It is shown that the energy consumption and the smoothness performance of the nonlinear feedback control are reduced by 4.2% and 14.6% with satisfactory control effects; the proposed algorithm has the advantages of robustness, energy saving and safety in berthing practice.