• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.2
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• pp.71-78
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• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the variables are tightly coupled by the position, velocity, and acceleration level coordinates, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all variables, which are coupled by the constraints. The position velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The Perturbed constraint equations are then simultaneously solved for variations of all variables only in terms of the variations of the independent variables. Finally, the relationships between the variations of all variables and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent variables variations.

• Journal of Electrical Engineering and Technology
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• v.8 no.6
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• pp.1439-1450
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• 2013

This paper investigates a robust neuro-fuzzy control (NFC) method which can accurately follow the speed reference of an interior permanent magnet synchronous motor (IPMSM) in the existence of nonlinearities and system uncertainties. A neuro-fuzzy control term is proposed to estimate these nonlinear and uncertain factors, therefore, this difficulty is completely solved. To make the global stability analysis simple and systematic, the time derivative of the quadratic Lyapunov function is selected as the cost function to be minimized. Moreover, the design procedure of the online self-tuning algorithm is comparatively simplified to reduce a computational burden of the NFC. Next, a rotor angular acceleration is obtained through the disturbance observer. The proposed observer-based NFC strategy can achieve better control performance (i.e., less steady-state error, less sensitivity) than the feedback linearization control method even when there exist some uncertainties in the electrical and mechanical parameters. Finally, the validity of the proposed neuro-fuzzy speed controller is confirmed through simulation and experimental studies on a prototype IPMSM drive system with a TMS320F28335 DSP.

• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.34.3-34.3
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• 2008

Relative navigation system is presented using measurements from a single-channel global positioning system (GPS) simulator. The objective of this study is to provide real-time relative navigation results as well as absolute navigation results for two formation flying satellites separated about 1km in low earth orbit. To improve the performance, more accurate dynamic model and modified relative measurement model are developed. This modified method prevents non-linearity of the measurement model from degrading precision by applying linearization about the states from absolute navigation algorithm not about a priori states. Furthermore, absolute states are obtained using ion-free GRAPHIC pseudo-ranges and precise relative states are provided using double differential carrier-phase data based on Extended Kalman Filter. The software-based simulation is performed and achieved meter-level precision for absolute navigation and millimeter-level precision for relative navigation. The absolute and relative accuracies at steady state are about 0.77m and 4mm respectively (3D, r.m.s.). In addition, Integer ambiguity algorithm (LAMBDA method) improves simulation performances.

• Journal of Advanced Navigation Technology
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• v.16 no.4
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• pp.703-708
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• 2012

This paper proposes the improvement of control performance in the wheeled inverted mobile robot system. and describes the modeling of a wheeled inverted pendulum type mobile robot driven by two different wheels for the position and velocity control. The system is sensitive on the parameter variation, therefore control signal should change to maintain desired state of the system in every instant. we designed proportional-plus-integral controller for our system, After linearization, the system was still unstable, throughout stability analysis of the system, we designed the values of the gains of a proportional-plus-integral controller. From the experimental results, we can find that the performance of the proposed method is better than of the manual tuning method.

• Proceedings of the KIEE Conference
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• 2000.11d
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• pp.765-768
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• 2000

Linearization of the biped dynamic equations and design of linear controller for the linearized equations are studied in this paper. The biped robot with inverted pendulum type trunk, used to stabilize the dynamic balancing of the biped robot during dynamic walking period, is modelled with 14 DOF and simulated. Despite of well defined linear control theories so far, the linear control methods was limited to the applications for a walking robot, because they have been inherently strong nonlinear properties, such as a modeling parameter uncertainties, external forces as noise, inertial and Coriolis terms by three dimensional modeling and so on. To linearize the nonlinear equations of motion of biped robot on MIMO and time varying linear equations of motion, 1st order Taylor series is used to formulate the linear equation. And a 2nd order numerical perturbation method Is used to approximate partial differential equations. Using the linearized equations of motion, a linear controller is designed by pole placement method with feed forward compensation. Using the obtained linearized equations and linear controller, the continuous walking simulation is performed.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.4 no.2
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• pp.65-75
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• 1984

A comparative study between several methods for the marine drilling riser analysis is carried out. One static analysis method and four dynamic methods are studied. The dynamic analysis methods used are two time domain methods using regular and random waves, and two frequency domain methods using the conventional and an improved linearization techniques. Two different sizes of risers are investigated. The analysis model of the structure is based on the beam-column element with lateral wave/current loads in a vertical plane. The forces on the riser are calculated using a modified farm of the Morison's equation. The finite element method is used to solve the equation for several wave/current conditions.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1248-1253
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• 2003

Sensitivity information has been used for linearization of nonlinear functions in optimization. Basically, sensitivity is a derivative of a function with respect to a design variable. Design sensitivity is repeatedly calculated in optimization. Since sensitivity calculation is extremely expensive, there are studies to directly use the sensitivity in the design process. When a small design change is required, an engineer makes design changes by considering the sensitivity information. Generally, the current process is performed one-by-one for design variables. Methods to exploit the sensitivity information are developed. When a designer wants to change multiple variables with some relationship, the directional derivative can be utilized. In this case, the first derivative can be calculated. Only small design changes can be made from the first derivatives. Orthogonal arrays can be used for moderate changes of multiple variables. Analysis of Variance is carried out to find out the regional influence of variables. A flow is developed for efficient use of the methods. The sensitivity information is calculated by finite difference method. Various examples are solved to evaluate the proposed algorithm.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.12
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• pp.2092-2100
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• 2003

Sensitivity information has been used for linearization of nonlinear functions in optimization. Basically, sensitivity is a derivative of a function with respect to a design variable. Design sensitivity is repeatedly calculated in optimization. Since sensitivity calculation is extremely expensive, there are studies to directly use the sensitivity in the design process. When a small design change is required, an engineer makes design changes by considering the sensitivity information. Generally, the current process is performed one-by-one for design variables. Methods to exploit the sensitivity information are developed. When a designer wants to change multiple variables with some relationship, the directional derivative can be utilized. In this case, the first derivative can be calculated. Only small design changes can be made from the first derivatives. Orthogonal arrays can be used for moderate changes of multiple variables. Analysis of Variance is carried out to find out the regional influence of variables. A flow is developed for efficient use of the methods. A software system with the flow has been developed. The system can be easily interfaced with existing commercial systems through a file wrapping technique. The sensitivity information is calculated by finite difference method. Various examples are solved to evaluate the proposed algorithm and the software system.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.8 no.3
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• pp.1-10
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• 1988

A higher order plate bending finite element using cubic in-plane displacement profiles is proposed for geometrically nonlinear analysis of thin and thick plates. The higher order plate bending element has been derived from the three dimensional plate-like continuum by discretization of the equations of motion by Galerkin weighted residual method, together with enforcing higher order plate assumptions. Total Lagrangian formulation has been used for geometrically nonlinear analysis of plates and consistent linearization by Newton-Raphson method has been performed to solve the nonlinear equations. The element characteristics have been computed by, selective reduced integration technique using Gauss quadrature to avoid shear locking phenomenon in case of extremely thin plates. Several numerical examples were solved with FEAP macro program to demonstrate versatility and accuracy of the present higher order plate bending element.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.3
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• pp.412-420
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• 2003

This study describes the merits of PWM control of hydraulic system using high speed on-off valves. Generally, Electro-hydraulic valves can be classified into two classification: valves which are controlled by analog signal and which are controlled by digital. The former includes hydraulic servo valves and proportional valves which require A/D converters as interface to digital computer and too costly and sensitive to oil contamination because of complexity in structures. The latter includes high speed on-off valves which do not require A/D converters because they are normally operated in a pulse width modulation(PWM) method, and are low in price and robust to oil contamination because of their simple structures. The objectives of this study is to analyze the limit cycle which regularly appear in the position control system using 2/2way high speed on-off valves and to give a criterion for the stability of this system. The nonlinear characteristics of PWM and cylinder friction of this system are described by harmonic linearization and the effects of parameter variations to the system stability are simulated.