• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.10
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• pp.997-1005
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• 2008

Linear motor stage is a useful device in precision engineering field because of its simple power transmission mechanism and accurate positioning. Even though linear motor stage shows fine positioning accuracy along travel axis, geometric dependent errors which relay on machining and assembling accuracy should be addressed to increase total positioning performances. In this paper, we suggests a cost effective yaw error compensation servo-system which is mounted on platform of the stage and nullify travel position dependent yaw error. This paper also provides a method of designing a sliding mode control which is robust to existing friction disturbance and model uncertainties. The reachability condition of slinding mode control for the yaw error compensating servo-system has been established. From some experimental results by using an experimental set-up, the sliding mode control showed its effective in disturbance rejection and its performance was superior to conventional linear controls.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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• pp.768-776
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• 2000

A robust high-speed motion controller is proposed. The proposed controller consists of the proximate time optimal servomechai는 (PTOD) for high-speed motion, disturbance observer (DOB) for robustness, friction compensator, and saturation handling element, In the proposed controller, DOB basically provides the chance to apply PTOS to non-double integrator systems by drastically reducing disturbances as well as unwanted signals due to difference between real system and the double integrator model. But, in DOB-based systems, if control input is saturated due to control input PTOS and/or DOB, overall system stability cannot be guaranteed. To solve this problem, ribust stability, when the control input is saturated. Eventually, a simple saturation handling element is inserted to maintain internal stability of overall system. Also, we explain the our two saturation handling methods, Additional Saturation Element (ASE_ and Self Adjusting Saturation (SAS), are the equivalent solutions of the saturation problem to maintain internal stability. The stability and performance of the proposed controller are verified through numerical simulations and experiments using a precision linear motor system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.12
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• pp.2353-2363
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• 1994

This paper is concerned with the design of a robust digital controller using reduced-order observer on a robotic manipulator under the disturbance. In most cases of robotic manipulator since all state vectors are not measurable, the unmeasurable state vectors must be estimated or reconstructed. Other problems are caused by the nonlinear element like as nondifferentiable Coulomb friction, disturbance due to the gravitational pull, and the torsional spring effect of a link between the drive motor and the manipulator arm. The controller is based on feeding back the observable variables and the estimated state variables which are generated by the observer, and augmenting the system by additional discrete integrators. The feedback gain parameters are obtained by first applying the optimal control theory and then readjusting the feedback parameters to eliminate the limit cycle by using describing Function for nonlinear hybrid system.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.3
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• pp.210-215
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• 2004

The dynamic model of ac servo motor is influenced very much due to rotor resistance change and nonlinear characteristic. By using the sliding mode control the dynamic behavior of system can be made insensitive to plant parameter change and external disturbance. This paper describes the application of the sliding mode control for position control of ac servo motor. The control scheme is derived and designed. A design method based on external load parameters has been developed for the robust control of ac induction servo drive. The proposed control scheme are given based on the variable structure controller and slip frequency vector control. Simulated results are given to verify the proposed design method by adoption of sliding mode and show robust control for a change of shaft initial J, viscous friction B and torque disturbance.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.11
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• pp.2073-2082
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• 2010

The 4-th generation of mobile communication aims to realize global, fast and mobile communication service. The satellite communication charges a key role in this field. In this study, an OTM(On-The-Move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite was addressed. Since vehicles move during communication, active antenna line-of-sight stabilization is a core technology to guarantee high satellite communication quality. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. Various disturbance torques such as static and dynamic mass imbalance torques, variation of moment of inertia according to elevation angle, friction torque related to vehicle motion, equivalent disturbance torque due to antenna roll motion, etc. were analyzed. As a robust stabilization control, rate feedback with sliding mode control and position feedback with proportional+integral control was suggested. To compensate antenna roll motion, a supplementary roll rate feed forward control was included beside of the feedback control loop. The feasibility of the analysis and the proposed control design were verified along with some simulation results.

• Journal of the Korean Geotechnical Society
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• v.24 no.2
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• pp.77-86
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• 2008

The disturbance zone and measured values are affected by the size of the penetrometer. The local value may be measured by the smaller penetrometer. An ultra small Micro-Cone penetrometer (5mm in outer diameter) is designed and manufactured to characterize soil properties with minimum disturbance during penetration tests. The tip resistance is measured by using stain gauges attached near the Micro-Cone. In addition, the friction sleeve is adopted to effectively remove the skin friction from the tip resistance. Design concern includes the installation of stain gauges, circuits, penetration systems, penetration rate, sampling rate, operating temperature, and calibration. Application tests show that the clay interface, and the soil layers consisting of clay and sand are clearly detected by the Micro-Cone. Furthermore, the cone tip resistances measured by the Micro-Cone and the miniature cone (16mm in outer diameter) are similar. Note the resolution is much higher in the Micro-Cone. This study shows that the Micro-Cone may effectively detect the soil interface with high resolution, and with minimum disturbance.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.03a
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• pp.571-578
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• 2009

Recently, micropiling techniques are increasingly applied in foundation rehabilitation/underpinning and seismic retrofitting projects where working space provides the limited access for conventional piling methods. Micropiling techniques provide environmental-friendly methods for minimizing disturbance to adjacent structures, ground, and the environment. Its installation is possible in restrictive area and general ground conditions. The cardinal features that the installation procedures cause minimal vibration and noise and require very low ceiling height make the micropiling methods to be commonly used for underpin existing structures. In the design point of view, the current practice obligates the bearing capacity of micropile to be obtained from skin friction of only rock-socketing area, in which it implies the frictional resistance of upper soil layer is ignored in the design process. In this paper, a new micropiling method and its verification studies via field installation are presented. The new method provides a specific way to grout bore-hole to increase frictional resistance between surrounding soil and pile-structure and it allows to consider the skin friction of micropiles for upper soil layer during design process.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.10
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• pp.1045-1052
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• 2015

In this paper, a stabilized control algorithm for the large rotating stand of a long-range surveillance radar (LRSR) system is introduced. The stabilized control algorithm for this large rotating stand system was designed using mathematical plant modeling. The LRSR system is located on high ground and has a wide surface, making it susceptible to the effects of wind, which increases the bearing friction and reduces the stability of the rotating stand. The disturbance caused by the wind was analyzed using computational fluid dynamics (CFD) in this study. The results of the CFD analysis were used to construct a control algorithm for the disturbance . The performance of the proposed control algorithm was demonstrated experimentally and through simulations. The plant model and the control algorithm were constructed in Matlab/Simulink.

• Geomechanics and Engineering
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• v.23 no.6
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• pp.513-521
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• 2020

In this paper, due to the need for cutting cement-soil group pile composite foundation under the 7-story masonry structure of Zhenghe District and the shield tunnel of Zhengzhou Metro Line 5, a field test was conducted to directly cut cement-soil single pile composite foundation with diameter Ф=500 mm. Research results showed that the load transfer mechanism of composite foundation was not changed before and after shield tunnel cut the pile, and pile body and the soil between piles was still responsible for overburden load. The construction disturbance of shield cutting pile is a complicated mechanical process. The load carried by the original pile body was affected by the disturbance effect of pile cutting construction. Also, the fraction of the load carried by the original pile body was transferred to the soil between the piles and therefore, the bearing capacity of composite foundation was not decreased. Only the fractions of the load carried by pile and the soil between piles were distributed. On-site monitoring results showed that the settlement of pressure-bearing plates produced during shield cutting stage accounted for about 7% of total settlement. After the completion of pile cutting, the settlements of bearing plates generated by shield machine during residual pile composite foundation stage and shield machine tail were far away from residual pile composite foundation stage which accounted for about 15% and 74% of total settlement, respectively. In order to reduce the impact of shield cutting pile construction on the settlement of upper composite foundation, it was recommended to take measures such as optimization of shield construction parameters, radial grouting reinforcement and "clay shock" grouting within the disturbance range of shield cutting pile construction. Before pile cutting, the pile-soil stress ratio n of composite foundation was 2.437. After the shield cut pile is completed, the soil around the lining structure is gradually consolidated and reshaped, and residual pile composite foundation reaches a new state of force balance. This was because the condensation of grouting layer could increase the resistance of remaining pile end and friction resistance of the side of the pile.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.36 no.3
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• pp.463-470
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• 2016

A vane shear test (VST) is a simple testing method for determining an undrained shear strength of cohesive soils by minimizing soil disturbance. In this study, the VST was used to determine a shear strength of sand. Dry Nakdong River sand was prepared for loose and dense conditions in a cell and then pressurized with 25, 50, 75 or 100 kPa from the surface of sand. A vane (5 cm in diameter and 10 cm in height) was rotated and a torque was measured within sand. When a torque moment by vane and friction resistance moment by sand is assumed to be equalized, a friction angle can be obtained. When a vane rotates within clay, a uniform undrained shear strength is assumed to be acting on cylindrical failure surface. On the other hand, when it is applied for sand, the failure shape can be assumed to be an octagonal or square column. The relationship between measured torque and resistant force along assumed failure shapes due to friction of sand was derived and the internal friction angle of sand was determined for loose and dense conditions. For the same soil condition, a series of direct shear test was carried out and compared with VST result. The friction angle from VST was between 24-42 degrees for loose sand and 33-53 degrees for dense sand. This is similar to those of direct shear tests.