• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.940-946
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• 2012

This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.524-529
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• 2004

In this paper, We described the method which developed the optimal control system for air separation unit to change production rates frequently and rapidly. Control models of the process were developed from actual plant data using subspace identification method which is developed by many researchers in resent years. The model consist of a series connection of linear dynamic block and static nonlinear block (Wiener model). The model is controlled by model based predictive controller. In MPC the input is calculated by on-line optimization of a performance index based on predictions by the model, subject to possible constraints. To calculate the optimal the performance index, conditions are expressed by LMI(Linear Matrix Inequalities).In order to access at the Bailey DCS system, we applied the OPC server and developed the Client program. The OPC sever is a device which can access Bailey DCS system.The Client program is developed based on the Matlab language for easy calculation,data simulation and data logging. Using this program, we can apply the optimal input to the DCS system at real time.

• Transactions of the Korean Society of Automotive Engineers
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• v.18 no.6
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• pp.23-30
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• 2010

A detailed circuit level model requires a small sampling time to represent high frequency switching behaviors with proper resolution. The small sampling time leads a large execution time to obtain the system analysis results. As the alternative of the detailed circuit model, an averaged PWM switch model was proposed for the rapid system level analysis. There exists a voltage distortion between the reference and output voltage because of non-ideal switching characteristics, such as the dead-time, diode forward voltage drop and conduction resistance. This paper analyzed causes and effects of the voltage distortion. The average inverter model, which reflecting this voltage distortion, is developed for the rapid and accurate analysis of automotive electric drive system in MATLAB/Simulink environment. The rapidity and accuracy of the proposed inverter model is proved through comparison between simulation and experiment.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.247-248
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• 2015

Wind turbines causes instabilities on the grid as their penetration increase. To mitigate harmful effects from wind turbines, transmission system operator(TSO) set up some requirements to obligate for wind generation operator for grid connection. So wind farm management system(WFMS) has important role to follow requirement from TSO, WFMS calculates available real power by considering wake effects, and dispatches real power order to each wind turbine in wind farm to optimize for decreasing load fatigue. To verify operation of WFMS, real-time simulator(RTS) is necessary. This paper deals with RTS configuration to verify WFMS operation. RTS includes wind farm model and power flow code. Normally, wind farm equivalent simple model makes wind turbines in wind farm to one wind turbine mode which cannot verify power flow in wind farm and WFMS operation. Thus, this paper makes wind farm model using simple wind turbine model with transfer function. Matlab is used for make power flow code and wind farm model to impose RTS and those model is certified by PSCAD/EMTDC.

• Journal of Drive and Control
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• v.14 no.2
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• pp.9-15
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• 2017

The steering systems of all-terrain cranes have been developed with various control strategies for the stability and drivability. To optimally control the input steering angle, an accurate mathematical model that represents the actual crane dynamics is required. The derivation of an accurate mathematical model to optimally control the steering angle, however, is difficult since the steering-control strategy generally varies with the magnitude of the crane's longitudinal velocity, and the postures of the crane's working parts vary while it is being driven. To address this problem, this paper proposes an automatic steering-control algorithm that is based on the MPC (model predictive control) with a disturbance observer for all-terrain cranes. The designed disturbance observer of this study was used to estimate the error between the base steering model and the actual crane. A model predictive controller was used for the computation of the optimal steering angle, along with the use of the base steering model with an estimated uncertainty. Performance evaluations of the designed control algorithms were conducted based on a curved-path scenario in the Matlab/Simulink environment. The performance-evaluation results show a sound reference-path-tracking performance despite the large uncertainties.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.6
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• pp.65-73
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• 2008

The purpose of this study is development of universal engine model for integrated Hybrid Electric Vehicle (HEV) simulator and a optimization of engine model. The engine model of this study is based on the MATLAB Simulink for universal and include engine fuel economy technologies for HEV. Various engine fuel economy technologies for HEV is estimated by commercial engine 1-D simulation program - WAVE. And, the 1-D simulation model of base version is compared with engine experiment result. The analyzed engine technologies with 1-D simulation are Dual-CVVT, Atkinson-Cycle and Cylinder-Deactivation System. There are improvement of fuel economy and power performance with Dual-CVVT model at part load and full load, pumping loss reduction with Cylinder-Deactivation System at idle and regeneration. Each estimated technologies are analyzed by 1-D simulation on all operation region for base data to converse simulink. The simulink based engine model maintains a signal with ECU for determination of engine operation point.

• Nuclear Engineering and Technology
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• v.48 no.5
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• pp.1140-1153
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• 2016

Since the inception of nuclear power as a commercial energy source, safety has been recognized as a prime consideration in the design, construction, operation, maintenance, and decommissioning of nuclear power plants. The release of radioactivity to the environment requires the failure of multiple safety systems and the breach of three physical barriers: fuel cladding, the reactor cooling system, and containment. In this study, nuclear reactor containment pressurization has been modeled in a large break-loss of coolant accident (LB-LOCA) by programming single-cell and multicell models in MATLAB. First, containment has been considered as a control volume (single-cell model). In addition, spray operation has been added to this model. In the second step, the single-cell model has been developed into a multicell model to consider the effects of the nodalization and spatial location of cells in the containment pressurization in comparison with the single-cell model. In the third step, the accident has been simulated using the CONTAIN 2.0 code. Finally, Bushehr nuclear power plant (BNPP) containment has been considered as a case study. The results of BNPP containment pressurization due to LB-LOCA have been compared between models, final safety analysis report, and CONTAIN code's results.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.233-239
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• 2020

The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop a controller for autonomous agricultural robot that transforming their dynamic characteristics by installation of machine modules. So we develop for the model based control algorithm of rotary machine connected to agricultural robot. Autonomous control algorithm of agricultural robot consists of the path control, velocity control, orientation control. To verify the developed algorithm, we used to analytical techniques that have the advantage of reducing development time and risks. The model is formulated based on the multibody dynamics methods for high accuracy. Their model parameters get from the design parameter and real constructed data. Then we developed the co-simulation that is combined between the multibody dynamics model and control model using the ADAMS and Matlab simulink programs. Using the developed model, we carried out various dynamics simulation in the several rotation speed of blades.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.33 no.8
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• pp.596-603
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• 2009

The performance of proton exchange membrane fuel cell (PEMFC) is seriously changed by the humidification condition which is intrinsic characteristics of the PEMFC. Typically, the humidification of fuel cell is carried out with internal or external humidifier. A membrane humidifier is applied to the external humidification of residential power generation fuel cell due to its convenience and high performance. In this study, a simple static model is constructed to understand the physical phenomena of the membrane humidifier in terms of geometric parameters and operating parameters. The model utilizes the concept of shell and tube heat exchanger but the model is also able to estimate the mass transport through the membrane. Model is constructed with FORTRAN under Matlab/$Simulink^{(R)}$ $\Box$environment to keep consistency with other components model which we already developed. Results shows that the humidity of wet gas and membrane thickness are critical parameters to improve the performance of the humidifier.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.159-163
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• 2005

A dynamic vibration absorber using the Zener's model has been taken into account with respect to frequency response characteristics. The concept of the tuned mass damper with a single degree of freedom has been well applied for many industrial fields, because many researchers have extensively studied various basic characteristics, performance and optimization methods for long time. The Zener's model has an additional spring, which is connected between a damper and a mass, while the tuned mass damper with a single degree of freedom consists of a mass, a spring and a damper connected in parallel. In previous works, the basic performance and characteristics of the Zoner's model as a dynamic vibration absorber have not been investigated. In this study, the frequency response characteristics according to the parameter change of the Zener's model have been described. In order to find the optimum value of several parameters, we use iterative scheme with three dimensional frequency response diagram by MATLAB programming. Present results shows the Zener's model can give more good damping performance than the simple tuned mass damper, and the numerical of optimization method should be developed for the efficient vibration absorbtion.