• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.56 no.5
• /
• pp.944-957
• /
• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstopping control method.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 1996.10a
• /
• pp.62-69
• /
• 1996

Most dynamic systems have various random properties in excitation and system parameters. In this paper, a procedure fur response analysis is proposed for the linear dynamic system with random properties in both excitation and system parameters. The system parameter and response with random properties are modeled by perturbation technique, aand then response analysis is formulated by probabilistic and vibration theories. And probabilistic FEM is also used for the calculation of mean response which is difficult by the proposed response model. As an application example, the transient response is calculated for a sdof system with random mass and spring constant subjected to stationary white-noise excitation and the results are compared to those of numerical simulation.

• Coupled systems mechanics
• /
• v.4 no.1
• /
• pp.19-36
• /
• 2015

Modelling and analysis of a brick masonry building involves uncertainties like modelling assumptions and properties of local material. Therefore, it is necessary to perform a calibration to evaluate the dynamic properties of the structure. The response of the finite element model is improved by predicting the parameter by performing linear dynamic analysis on experimental data by comparing the acceleration. Further, a nonlinear dynamic analysis was also performed comparing the roof acceleration and damage pattern of the structure obtained analytically with the test findings. The roof accelerations obtained analytically were in good agreement with experimental roof accelerations. The damage patterns observed analytically after every shock were almost similar to that of experimental observations. Damage pattern with amplification in roof acceleration exhibit the potentiality of earthquake resistant measures in brick masonry models.

• Structural Engineering and Mechanics
• /
• v.14 no.6
• /
• pp.679-698
• /
• 2002

In this paper some techniques for the dynamic analysis of non-classically damped linear systems are reviewed and compared. All these methods are based on a transformation of the governing equations using a basis of complex or real vectors. Complex and real vector bases are presented and compared. The complex vector basis is represented by the eigenvectors of the complex eigenproblem obtained considering the non-classical damping matrix of the system. The real vector basis is a set of Ritz vectors derived either as the undamped normal modes of vibration of the system, or by the load dependent vector algorithm (Lanczos vectors). In this latter case the vector basis includes the static correction concept. The rate of convergence of these bases, with reference to a parametric structural system subjected to a fixed spatial distribution of forces, is evaluated. To this aim two error norms are considered, the first based on the spatial distribution of the load and the second on the shear force at the base due to impulsive loading. It is shown that both error norms point out that the rate of convergence is strongly influenced by the spatial distribution of the applied forces.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.45 no.3
• /
• pp.40-48
• /
• 2022

An automated material handling system (AMHS) has been emerging as an important factor in the semiconductor wafer manufacturing industry. In general, an automated guided vehicle (AGV) in the Fab's AMHS travels hundreds of miles on guided paths to transport a lot through hundreds of operations. The AMHS aims to transfer wafers while ensuring a short delivery time and high operational reliability. Many linear and analytic approaches have evaluated and improved the performance of the AMHS under a deterministic environment. However, the analytic approaches cannot consider a non-linear, non-convex, and black-box performance measurement of the AMHS owing to the AMHS's complexity and uncertainty. Unexpected vehicle congestion increases the delivery time and deteriorates the Fab's production efficiency. In this study, we propose a Q-Learning based dynamic routing algorithm considering vehicle congestion to reduce the delivery time. The proposed algorithm captures time-variant vehicle traffic and decreases vehicle congestion. Through simulation experiments, we confirm that the proposed algorithm finds an efficient path for the vehicles compared to benchmark algorithms with a reduced mean and decreased standard deviation of the delivery time in the Fab's AMHS.

• Smart Structures and Systems
• /
• v.22 no.1
• /
• pp.81-94
• /
• 2018

Automatic Generation Control (AGC) has functionally controlled the interchange power flow in order to suppress the dynamic oscillations of frequency and tie-line power deviations as a perturbation occurs in the interconnected multi-area power system. Furthermore, Flexible AC Transmission Systems (FACTS) can effectively assist AGC to more enhance the dynamic stability of power system. So, Static Synchronous Series Compensator (SSSC), one of the well-known FACTS devices, is here applied to accurately control and regulate the load frequency of multi-area multi-source interconnected power system. The research and efforts made in this regard have caused to introduce the Fractional Order Proportional Integral Derivative (FOPID) based SSSC, to alleviate both the most significant issues in multi-area interconnected power systems i.e., frequency and tie-line power deviations. Due to multi-objective nature of aforementioned problem, suppression of the frequency and tie-line power deviations is formularized in the form of a multi-object problem. Considering the high performance of Multi Objective Bees Algorithm (MOBA) in solution of the non-linear objectives, it has been utilized to appropriately unravel the optimization problem. To verify and validate the dynamic performance of self-defined FOPID-SSSC, it has been thoroughly evaluated in three different multi-area interconnected power systems. Meanwhile, the dynamic performance of FOPID-SSSC has been accurately compared with a conventional controller based SSSC while the power systems are affected by different Step Load Perturbations (SLPs). Eventually, the simulation results of all three power systems have transparently demonstrated the dynamic performance of FOPID-SSSC to significantly suppress the frequency and tie-line power deviations as compared to conventional controller based SSSC.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.7
• /
• pp.590-596
• /
• 2004

A passivity-based dynamic output feedback controller design is considered for a finite collection of non-square linear systems. Design of a single controller for a set of plants i.e. simultaneous stabilization is an important issue in the area of robust control design. We first determine a squaring gain matrix and an additional dynamics that is connected to the systems in a feedforward way, then a static passivating control law is designed. Consequently, the actual feedback controller will be the static control law combined with the feedforward dynamics. A necessary and sufficient condition for the existence of the parallel feedforward compensator is given by the static output feedback formulation. In contrast to the previous result [1], a technical condition for constructing the parallel feedforward compensator is removed by proposing a new type of the parallel compensator.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.9
• /
• pp.929-938
• /
• 2009

This paper presents a novel control methodology for communication network based nonlinear systems with time delay nature. We construct a nominal nonlinear control law for representing a linear model and a reset control system which is aimed for corrective control strategy to compensate system error due to uncertain time delay through wireless communication network. Next, online neural control approach is proposed for overcoming nonstationary statistical nature in the network topology. Additionally, DBN (Dynamic Bayesian Network) technique is accomplished for modeling of its dynamics in terms of casuality, which is then utilized for estimating prediction of system output. We evaluate superiority and reliability of the proposed control approach through numerical simulation example in which a nonlinear inverted pendulum model is employed as a networked control system.

• Structural Engineering and Mechanics
• /
• v.83 no.6
• /
• pp.709-727
• /
• 2022

Fastening systems have a significant role in the response of railway slab track systems. Although experimental tests indicate nonlinear behavior of fastening systems, they have been simulated as a linear spring-dashpot element in the available literature. In this paper, the influence of the nonlinear behavior of fastening systems on the slab track response was investigated. In this regard, a nonlinear model of vehicle/slab track interaction, including two commonly used fastening systems (i.e., RFFS and RWFS), was developed. The time history of excitation frequency of the fastening system was derived using the short time Fourier transform. The model was validated, using the results of a comprehensive field test carried out in this study. The frequency response of the track was studied to evaluate the effect of excitation frequency on the railway track response. The results obtained from the model were compared with those of the conventional linear model of vehicle/slab track interaction. The effects of vehicle speed, axle load, pad stiffness, fastening preload on the difference between the outputs obtained from the linear and nonlinear models were investigated through a parametric study. It was shown that the difference between the results obtained from linear and nonlinear models is up to 38 and 18 percent for RWFS and RFFS, respectively. Based on the outcomes obtained, a nonlinear to linear correction factor as a function of vehicle speed, vehicle axle load, pad stiffness and preload was derived. It was shown that consideration of the correction factor compensates the errors caused by the assumption of linear behavior for the fastening systems in the currently used vehicle track interaction models.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1998.10a
• /
• pp.368-373
• /
• 1998

This paper presents a GA-based fuzzy modelling scheme of nonlinear systems. The fuzzy model is a type of the Sugeno-Tagaki's fuzzy model whose consequence parts are described by a linear continuous dynamic equation as subsystem of a nonlinear system. The centers and width of the membership functions of the fuzzy sets defined over the input space and the orders and parameters of subsystems in the consequence parts are adjusted by a genetic algorithm. The effectiveness of the proposed method is verified