• 제어로봇시스템학회논문지
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• 제8권12호
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• pp.1067-1075
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• 2002

The system error model for the compensation of the low-cost personal navigation system is derived and the error compensation method using GPS is also proposed. The walking navigation system (WNS) that calculates navigation information through walking detection has small error than INS, but the error also increases with time. In order to improve reliability of the system regardless of time, WNS is integrated with GPS. Since WNS is usually used in urban area, the blockage of CPS signal is frequently occurred. Therefore tightly coupled Kalman filter is used for the integration of WNS and GPS. In this paper, the system model for the design of tightly coupled Kかm filter is designed and measurement is linearized in consideration of moving distance error. It is shown by Monte Carlo simulation that the error is bounded even through the number of visible satellite is less than 4.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.292-304
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• 2005

In this paper we present the linearized equations of motion for a bicycle as a benchmark. The results obtained by pencil-and-paper and two programs are compared. The bicycle model we consider here consists of four rigid bodies, viz. a rear frame, a front frame being the front fork and handlebar assembly, a rear wheel and a front wheel, which are connected by revolute joints. The contact between the knife-edge wheels and the flat level surface is modelled by holonomic constraints in the normal direction and by non-holonomic constraints in the longitudinal and lateral direction. The rider is rigidly attached to the rear frame with hands free from the handlebar. This system has three degrees of freedom, the roll, the steer, and the forward speed. For the benchmark we consider the linearized equations for small perturbations of the upright steady forward motion. The entries of the matrices of these equations form the basis for comparison. Three diffrent kinds of methods to obtain the results are compared : pencil-and-paper, the numeric multibody dynamics program SPACAR, and the symbolic software system Auto Sim. Because the results of the three methods are the same within the machine round-off error, we assume that the results are correct and can be used as a bicycle dynamics benchmark.

• Journal of Power Electronics
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• 제14권5호
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• pp.1057-1068
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• 2014

Phase-locked loops (PLL) based on the synchronous reference frame (SRF-PLL) have recently become the most widely-used for grid synchronization in three phase grid-connected inverters. However, it is difficult to study their performance since they are nonlinear systems. To estimate the performances of a SRF-PLL, a canonical small-signal linearized model has been developed in this paper. Based on the proposed model, several significant specifications of a SRF-PLL, such as the capture time, capture rang, bandwidth, the product of capture time and bandwidth, and steady-state error have been investigated. Finally, a noise model of a SRF-PLL has been put forward to analyze the noise rejection ability by computing the SNR (signal-to-noise ratio) of a SRF-PLL. Several simulation and experimental results have been provided to verify and validate the obtained conclusions. Although the proposed model and analysis method are based on a SRF-PLL, they are also suitable for analyzing other types of PLLs.

• 산업경영시스템학회지
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• 제32권4호
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• pp.184-191
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• 2009

In a technological driven environment, a depreciation estimate which is based on traditional life analysis results in a decelerated rate of capital recovery. This time pattern of technological growths models needs to be incorporated into life analysis framework especially in those industries experiencing fast technological changes. The approximation technique for calculating the variance can be applied to the six growth models that were selected by the degree of skewness and the transformation of the functions. For the Pearl growth model, the Gompertz growth model, and the Weibull growth model, the errors have zero mean and a constant variance over time. However, transformed models like the linearized Fisher-Pry model, the linearized Gompertz growth model, and the linearized Weibull growth model have increasing variance from zero to that point at which inflection occurs. It can be recommended that if the variance of error over time is increasing, then a transformation of observed data is appropriate.

• International Journal of Automotive Technology
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• 제6권4호
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• pp.375-381
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• 2005

This paper presents linear algebraic equations in the form of recursive formula to compute elastokinematic characteristics of a suspension system. Conventional methods of elastokinematic analysis are based on nonlinear kinematic constrant equations and force equilibrium equations for constrained mechanical systems, which require complicated and time-consuming implicit computing methods to obtain the solution. The proposed linearized elastokinematic equations in the form of recursive formula are derived based on the assumption that the displacements of elastokinematic behavior of a constrained mechanical system under external forces are very small. The equations can be easily computerized in codes, and have the advantage of sharing the input data of existing general multi body dynamic analysis codes. The equations can be applied to any form of suspension once the type of kinematic joints and elastic components are identified. The validity of the method has been proved through the comparison of the results from established elastokinematic analysis software. Error estimation and analysis due to piecewise linear assumption are also discussed.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.785-790
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• 2008

Vibration of a non-linear system under random parametric excitations was evaluated by probablistic methods. The non-linear characteristic terms of a system were quasi-linearized and excitation terms were remained as they were given. An analytical method where the square mean of error was minimized was ysed. An alternative method was an energy method where the damping energy and rstoring energy of the linearized system were equalized to those of the original non-linear system. The numerical results were compared with those obtained by Monte Carlo simulation. The comparison showed the results obtained by Monte Carlo simulation located between those by the analytical method and those by the energy method.

• 설비공학논문집
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• 제16권9호
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• pp.811-819
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• 2004

A silica gel desiccant dehumidifier is studied theoretically in this paper adopting several linearization assumptions. The governing equations are linearized with the assumptions, and the exact solutions to the temperature and the humidity ratio are obtained. In spite of the assumptions, the theoretical results are found to agree well with those from the numerical analysis without any assumption. In typical operation ranges of the desiccant dehumidifier, the time-averaged errors in the process air temperature and humidity ratio are less than 4% and 7%, respectively, and the corresponding root-mean-square values are less than 5% and 15%, respectively The analytical solutions are expected to contribute to the fundamental understanding of the dehumidification and regeneration processes and the correlation analysis of the numerous parameters influencing the dehumidifier operation.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.953-957
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• 2001

This paper is concerned with a transfer alignment method for the SDINS under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonliner measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.486-486
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• 2000

This paper is concerned with a transfer alignment method for the SDINS(StrapDown Inertial Navigation System) under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 대한수학회보
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• 제29권1호
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• pp.125-135
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• 1992

In various viscus flow problems it has been the custom to replace the convective derivative by the ordinary partial derivative in problems for which the data are small. In this paper we consider the Benard Convection problem with small data and compare the solution of this problem (assumed to exist) with that of the linearized system resulting from dropping the nonlinear terms in the expression for the convective derivative. The objective of the present work is to derive an estimate for the error introduced in neglecting the convective inertia terms. In fact, we derive an explicit bound for the L$_{2}$ error. Indeed, if the initial data are O(.epsilon.) where .epsilon. << 1, and the Rayleigh number is sufficiently small, we show that this error is bounded by the product of a term of O(.epsilon.$^{2}$) times a decaying exponential in time. The results of the present paper then give a justification for linearizing the Benard Convection problem. We remark that although our results are derived for classical solutions, extensions to appropriately defined weak solutions are obvious. Throughout this paper we will make use of a comma to denote partial differentiation and adopt the summation convention of summing over repeated indices (in a term of an expression) from one to three. As reference to work of continuous dependence on modelling and initial data, we mention the papers of Payne and Sather [8], Ames [2] Adelson [1], Bennett [3], Payne et al. [9], and Song [11,12,13,14]. Also, a similar analysis of a micropolar fluid problem backward in time (an ill-posed problem) was given by Payne and Straughan [10] and Payne [7].