• Proceedings of the KIEE Conference
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• 1994.11a
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• pp.366-369
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• 1994

In this paper, reduced-order $H_{\infty}$ robust controller is designed for the drum-type boiler system. From the known nonlinear dynamic model, a linearized multivariable model is obtained. To reduce order of robust controller, observer-based proper $H_{\infty}$ compensator is designed. The designed controller has robust property against the influence of sensor noise, system parameter variation and model uncertainty. A good Performance of the designed controller is shown by simulation.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.145-151
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• 1995

The first-order Taylor series expansion can be evaluated analytically from the formulated symbolic nonlinear dynamic equations. A closed-form linear dynamic euation is derived about a nominal trajectory. The state space representation of the linearized dynamics can be derived easily from the closed-form linear dynamic equations. But manual symbolic expansion of dynamic equations and linearization is tedious, time-consuming and error-prone. So it is desirable to manipulate the procedures using a computer. In this paper, the analytic linearization is performed using the symbolic language MATHEMATICA. Two examples are given to illustrate the approach anbd to compare nonlinear model with linear model.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.9
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• pp.124-129
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• 1997

The purpose of this study is to predict the stability and frequency response of multipurpose vehicle. The vehicle model has seven degrees of freedom. The motion equations are derived by using Lagrangian equation and linearized. The positions of eigenvalues of model which are dominated by lateral velocity, yaw rate, roll rate of sprung mass are used to predict the stability of motion. The resonse of sprung mass to steering wheel is simulated in time domain. It is predicted that the roll response of sprung mass would rather be improved by modifying the position of eigenvalues. The responses of sprung mass to steering wheel are also simulated in frequency domain. The magnitude and phase plots of gains are evaluated in driver's steering input frequency range.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.6
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• pp.1036-1055
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• 1992

In this paper the feedback linearization of the valve-controlled nonlinear hydraulic velocity control system and the implementation of the digital state feedback controller is studied. The $C^{\infty}$ nonlinear transfomation to the electro-hydraulic velocity control system, which transforms nonlinear system to linear equivalent one, is obtained. It is shown that this transformation is global one. The digital controller to this linearized model is obtained by using the one-step ahead state estimator and implemented to real plant. The proposed implementation method is easier than the other proposed methods and it is possible to control in real time. The experiment and simulation study show that the implementation of the digital state feedback controller based on the feedback linearized model is successful..

• The Journal of the Acoustical Society of Korea
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• v.15 no.5
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• pp.44-52
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• 1996

Acoustical characteristics of internal pipe structures and a loudspeaker of the thermoacoustic refrigerator are analyzed by using the transfer matrix method. The resonator system is dismantled into verious basic acoustic elements, and then linearized transfer matrices are serially combined with the dynamical system of linearized loudspeaker model, that the total system of thermoacoustic refrigerator can be analyzed in terms of frequency characteristics and acoustic field shape. Additionally, by using equations for energy flow through the capillary stack, the temperature distribution over the stack is numerically estimated. After expressing the acoustic work flow, thermoacoustic flow, and energy loss per unit length in a single capillary duct by using the transverse functional variations, overall energy flow rate and energy balance are obtained for the whole capillary stack. The final expression for energy flow through the stack is numerically evaluated by varying physical parameters obtained from the sound field analysis. After confirming good agreements between predicted and experimental results for the interior sound field of a refrigerator model, the thermoacoustic characteristics of Hofler's apparatus is analyzed by the proposed method and it is observed that the results agree well with Hofler's experimental results.

• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.2
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• pp.149-157
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• 2001

A nonlinear speed control for a permanent magnet synchronous motor (PMSM) using a simple disturbance estimation technique is presented. By using a feedback linearization scheme, the nonlinear motor model can be linearized in a controllable canonical form, and the desired speed dynamics can be obtained based on the linearized model. This technique, however, gives an undesirable output performance under the mismatch of the system parameters and load conditions. To cancel disturbance by parameter variation, the controller parameters will be estimated by using a disturbance observer theory where the disturbance torque and flux linkage are estimated. since only the two reduced order observers are used for the parameter estimations, the observer designs are considerably simple and the additional load for computation of the controller is negligibly small. The proposed control scheme is implemented on a PMSM using DSP TMS320C31 and the effectiveness is verified through the comparative simulations and experiments.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.6
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• pp.1075-1088
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• 1992

This paper presents techniques used to model a two arm experimental robot. Both arms are compliant and the robot operates in a vertical plane and is therefore influenced by gravity. The robot is being built to study different control strategies for robots containing compliant members. The system is built with extremely flexible members. This limits the required bandwidth of the control electronics, and mimics the flexible motions that are observed for stiffer faster robots. The objective of this paper is to develop a reduced order model of the robot system and to experimentally validate the model. Validation requires that the model includes gravitational effects. Therefore, an assumed modes model is developed which facilitates modeling of gravitational effects. In order to select the order and mode shapes for the model, an analytical solution is derived for a linearized continuous model. This is compared to the assumed modes model to determine the number of mode shapes needed to model the system. The final model, which includes shortening effects, correlates very well with experimental results.

• Korean Journal Plant Pathology
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• v.14 no.2
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• pp.150-156
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• 1998

To develop a model for prediction of turnip mosaic virus(TuMV) disease progress of Chinese cabbage based on weather information and number of TuMV vector aphids trapped in Taegwallyeong alpine area, data were statistically processed together. As the variables influenced on TuMV disease progress, cumulative portion(CPT) above 13$^{\circ}C$ in daily average temperature was the most significant, and solar radiation, duration of sunshine, vector aphids and cumulative temperature above $0^{\circ}C$ were significant. When logistic model and Gompertz model were compared by detemining goodness of fit for TuMV disease progress using CPT as independent variable, regression coefficient was higher in the logistic model than in the Gompertz model. Epidemic parameters, apparent infection rate and initial value of logistic model, were estimated by examining the relationship between disease proportion linearized by logit transformation equation, In(Y/Yf-Y) and CPT. Models able to describe the progression of TuMV disease were formulated in Y=100/(1+128.4 exp(-0.013.CPT.(-1(1/(1+66.7.exp(-0.11.day). Calculated disease progress from the model was in good agreement with investigated actual disease progress showing high significance of the coefficient of determination with 0.710.

• Smart Structures and Systems
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• v.14 no.6
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• pp.1081-1103
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• 2014

Real-time hybrid simulation (RTHS) has emerged as an important tool for testing large and complex structures with a focus on rate-dependent specimen behavior. Due to the real-time constraints, accurate dynamic control of servo-hydraulic actuators is required. These actuators are necessary to realize the desired displacements of the specimen, however they introduce unwanted dynamics into the RTHS loop. Model-based actuator control strategies are based on linearized models of the servo-hydraulic system, where the controller is taken as the model inverse to effectively cancel out the servo-hydraulic dynamics (i.e., model-based feedforward control). An accurate model of a servo-hydraulic system generally contains more poles than zeros, leading to an improper inverse (i.e., more zeros than poles). Rather than introduce additional poles to create a proper inverse controller, the higher order derivatives necessary for implementing the improper inverse can be calculated from available information. The backward-difference method is proposed as an alternative to discretize an improper continuous time model for use as a feedforward controller in RTHS. This method is flexible in that derivatives of any order can be explicitly calculated such that controllers can be developed for models of any order. Using model-based feedforward control with the backward-difference method, accurate actuator control and stable RTHS are demonstrated using a nine-story steel building model implemented with an MR damper.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.4
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• pp.132-138
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• 2006

Numerical analysis about atomization and wall impingement process of hollow-cone fuel spray is performed by a modified KIVA code with hybrid model. The atomization process is modeled by using hybrid breakup model that is composed of Linearized Instability Sheet Atomization(LISA) model and Aerodynamically Progressed Taylor Analogy Breakup(APTAB) model. The Gosman model, which is based on the droplet behaviors after impingement determined by experimental correlations, is used for spray-wall impingement process. The LIEF technique was used to compare the results with those of experiment. The calculations and experiments are carried out at the ambient pressures of 0.1 MPa and 0.5 MPa and the ambient temperature of 293K. It was found that the calculated results show satisfactory agreement with experimental ones.