• Journal of Navigation and Port Research
• /
• v.31 no.6
• /
• pp.523-530
• /
• 2007

Crane systems are very important in industrial fields to carry heavy objects such that many investigations about control of the systems are actively conducted for enhancing its control performance. This paper presents an adaptive control approach using the model matching for a complex 3-DOF nonlinear crane system. First, the system model is linearized through feedback linearization method and then PD control is applied in the approximated model. This linear model is considered as nominal to derive corrective control law for a perturbed crane model using Lyapunov theory. This corrective control is primitively aimed to compensate real-time control deviation due to partially known perturbation. We additionally study stability analysis of the crane control system using Lyapunov perturbation theory. Evaluation of our control approach is numerically carried out through computer simulation and its superiority is demonstrated comparing with the classical control.

• Advances in Computational Design
• /
• v.4 no.1
• /
• pp.15-32
• /
• 2019

One of the efficient and useful tools to achieve the optimal design of structures is employing the sensitivity analysis in the finite element model. In the numerical optimization process, often the semi-analytical method is used for estimation of derivatives of the objective function with respect to design variables. Numerical methods for calculation of sensitivities are susceptible to the step size in design parameters perturbation and this is one of the great disadvantages of these methods. This article uses complex variables method to calculate the sensitivity analysis and combine it with discrete sensitivity analysis. Finally, it provides a new method to obtain the sensitivity analysis for linear structures. The use of complex variables method for sensitivity analysis has several advantages compared to other numerical methods. Implementing the finite element to calculate first derivatives of sensitivity using this method has no complexity and only requires the change in finite element meshing in the imaginary axis. This means that the real value of coordinates does not change. Second, this method has the lower dependency on the step size. In this research, the process of sensitivity analysis calculation using a finite element model based on complex variables is explained for linear problems, and some examples that have known analytical solution are solved. Results obtained by using the presented method in comparison with exact solution and also finite difference method indicate the excellent efficiency of the proposed method, and it can predict the sustainable and accurate results with the several different step sizes, despite low dependence on step size.

• Journal of the Earthquake Engineering Society of Korea
• /
• v.6 no.6
• /
• pp.55-64
• /
• 2002

For nonlinear analysis of sloshing of fluid in rectangular tanks, a new method using the perturbation approach is presented. The results by presented method show good agreement with results in previous study. The importance of nonlinear sloshing analysis is demonstrated by comparing nonlinear behaviors of sloshing in broad and tall tanks with different site conditions. In general, the results by nonlinear analysis are greater than those by linear analysis. Specially, the nonlinear behavior is significant in softer soil site and broad tank. Therefore, nonlinear behavior analysis has to be considered in the design of large liquid storage tanks.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.13 no.6
• /
• pp.88-98
• /
• 2014

A moving mass on a skewed linear guideway model to analyze the friction-induced stick-slip behavior of ball-screw-driven slides is proposed. To describe the friction force, a friction coefficient function is modelled as a third-order polynomial of the relative velocity between the slide mass and a guideway. A nonlinear differential equation of motion is derived and an approximate solution is obtained using a perturbation method for the amplitudes and base frequencies of both pure-slip and stick-slip oscillations. The results are presented with time responses, phase plots, and amplitude plots, which are compared adequately with those obtained by Runge Kutta 4th-order numerical integration, as long as the difference between the static and kinematic friction coefficients is small. However, errors in the results by the approximate solution increase and are not negligible if the difference between the friction coefficients exceeds approximately 40% of the static friction coefficient.

• Journal of the Society of Naval Architects of Korea
• /
• v.58 no.6
• /
• pp.348-357
• /
• 2021

In this paper, the generalized hydrodynamic force and response of a flexible body are calculated at different reference coordinate systems. We generalize the equation of motion for a flexible body by using the conservation of momentum (Mei et al., 2005). To obtain the equations in the generalized mode, two different reference coordinates are adopted. The first is the body-fixed coordinate system by a rigid body motion. The other is the inertial coordinate system which has been adopted for the analysis. Using the perturbation scheme in the weakly-nonlinear assumption, the equations of motion are expanded up to second-order quantities and several second-order forces are obtained. Numerical tests are conducted for the flexible barge model in head waves and the vertical bending is only considered in the hydroelastic responses. The results show that the linear response does not have the difference between the two formulations. On the other hand, second-order quantities have different values for which the rigid body motion is relatively large. However, the total summation of second-order quantities has not shown a large difference at each reference coordinate system.

• International Journal of Control, Automation, and Systems
• /
• v.3 no.3
• /
• pp.387-396
• /
• 2005

The Rotational/Translational Actuator (RTAC) benchmark problem considers a fourth-order dynamical system involving the nonlinear interaction of a translational oscillator and an eccentric rotational proof mass. This problem has been posed to investigate the utility of a rotational actuator for stabilizing translational motion. In order to experimentally implement any of the model-based controllers proposed in the literature, the values of model parameters are required which are generally difficult to determine rigorously. In this paper, an approach to the least-squares estimation of the parameters of a system is formulated and practically applied to the RTAC system. On the other hand, this paper shows how to model a nonlinear system as a linear uncertain system via nonparametric system identification, in order to provide the information required for linear robust $H_\infty$ control design. This method is also applied to the RTAC system, which demonstrates severe nonlinearities, due to the coupling from the rotational motion to the translational motion. Experimental results confirm that this approach can effectively condense the whole nonlinearities, uncertainties, and disturbances within the system into a favorable perturbation block.

• Proceedings of the KIPE Conference
• /
• 2002.07a
• /
• pp.470-475
• /
• 2002

Instantaneous following PWM control technique is pulsed nonlinear dynamic control method. This new control technique using analog integrator is proposed to control the duty ratio D of do-dc converter. In this control method, the duty ratio of a switch is exactly equal In or proportional to the control reference in the steady state or in a transient. Proposed control method compensates power source perturbation in one switching cycle, and the average value of the dynamic reference in one switching cycle. There is no steady state error nor dynamic error between the control reference and the average value of the switched variable. Experiments with buck converter have demonstrated the robustness of the control method and verified theoretical prediction. The control method is very general and applicable to all type PWM

• Journal of KSNVE
• /
• v.6 no.5
• /
• pp.567-574
• /
• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• Journal of the Korean Mathematical Society
• /
• v.54 no.2
• /
• pp.613-626
• /
• 2017

For the overdetermined linear system, when both the data matrix and the observed data are contaminated by noise, Total Least Squares method is an appropriate approach. Since an ill-conditioned data matrix with noise causes a large perturbation in the solution, some kind of regularization technique is required to filter out such noise. In this paper, we consider a Dual regularized Total Least Squares problem. Unlike the Tikhonov regularization which constrains the size of the solution, a Dual regularized Total Least Squares problem considers two constraints; one constrains the size of the error in the data matrix, the other constrains the size of the error in the observed data. Our method derives two nonlinear equations to construct the iterative method. However, since the Jacobian matrix of two nonlinear equations is not guaranteed to be nonsingular, we adopt a trust-region based iteration method to obtain the solution.

• Proceedings of the KIEE Conference
• /
• 2002.11c
• /
• pp.378-381
• /
• 2002

Instantaneous following PWM control technique is pulsed nonlinear dynamic control method. This new control technique using analog integrator is proposed to control the duty ratio D of DC-DC converter. In this control method, the duty ratio of a switch is exactly equal to or proportional to the control reference in the steady state or in a transient. Proposed control method compensates power source perturbation in one switching cycle, and the average value of the dynamic reference in one switching cycle. There is no steady state error nor dynamic error between the control reference and the average value of the switched variable. Experiments with buck converter have demonstrated the robustness of the control method and verified theoretical prediction. The control method is very general and applicable to all type PWM.