• 제어로봇시스템학회논문지
• /
• 제2권3호
• /
• pp.148-157
• /
• 1996

Availability of input trajectories corresponding to desired output trajectories is often important in designing control systems for batch and other transient processes. In this paper, we propose a predictive control-type model-based iterative learning algorithm which is applicable to finding the nominal input trajectories of a linear time-invariant batch process. Unlike the other existing learning control algorithms, the proposed algorithm can be applied to nonsquare systems and has an ability to adjust noise sensitivity as well as convergence rate. A simple model identification technique with which performance of the proposed learning algorithm can be significantly enhanced is also proposed. Performance of the proposed learning algorithm is demonstrated through numerical simulations.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 춘계학술대회 논문집
• /
• pp.995-1000
• /
• 2000

In this paper. a mechanistic model is first constructed to predict three-dimensional cutting forces, and the uncut chip th thickness is calculated by following the movements of the position of the center of a cutter, which varies with the nominal feed, cutter deflection and runout. For general implementation to a real machining, this paper presents the method that determines constant cutting force coefficients, irrespective of the cutting conditions or cutter rotation angles. In addition, this study presents the approach which estimates runout-related parameters. the runout offset and its location angle, using only one measurement of cutting forces. For more accurate cutting force predictions, the size effect has to be considered in the cutting force model. In this paper, two approximate methods are suggested since the strict approach is practically impossible due to a measurement problem. The size effect is individually considered for narrow and wide cuts.

• 대한조선학회논문집
• /
• 제45권4호
• /
• pp.361-369
• /
• 2008

The optimized distance between skegs and angle of the skeg for a standard twin-skeg type LNG carrier were presented using the CFD and model tests. The evaluation method of self-propulsion performance was derived based on the results of CFD and confirmed the validity through model tests. The analyses to assess self-propulsion performance using CFD were shown by flow line patterns on the skeg surface, nominal wake distribution in the propeller plane and the evaluation for flow balance around stern skegs. The optimized ship that was applied to the optimized two design parameters in stern skeg arrangement for target ship was derived in this work. Finally speed performance of mother ship which is existing ship and optimized ship were compared through CFD and model tests. And the usefulness about the evaluation method of self-propulsion performance was reconfirmed.

• 제어로봇시스템학회논문지
• /
• 제3권6호
• /
• pp.582-587
• /
• 1997

This paper deals with the control problem under nonlinear boiler systems with noise, and input constraints. MCMBPC(Multivariable Constrained Model-Based Predictive Controller) proposed by Wilkinson et al.[10,11] is used and nominal model is modified in this paper in order to applied to nonlinear boiler systems with feed-forward terms. The solution of the cost function optimization constrained on input and/or output variables is achieved using quadratic programming, via singular value decomposition(SVD). The controller designed is shown to satisfy the constraints and to have excellent tracking performance via simulation applied to nonlinear dynamic drum boiler turbine model for 16OMW unit.

• 한국정밀공학회지
• /
• 제20권10호
• /
• pp.130-140
• /
• 2003

This paper presents an $H_\infty$controller synthesis based on disturbance observer for the trajectory control of a hydraulic excavator. Compared to conventional robot manipulators driven by electrical motors, hydraulic excavator have more nonlinear and coupled dynamics. In particular, the interactions between an excavation tool and the materials being excavated are unstructured and complex. In addition, its operating modes depend on working conditions, which make it difficult to not only derive the exact mathematical model but also design a controller systematically. In this study, the approximated linear model obtained through off-line system identification is used as nominal plant model for a disturbance observer. A disturbance observer based tracking controller which considers the effect of disturbance and model uncertainty is synthesized in $H_\infty$frameworks. Simulation results are used to demonstrate the applicability of the proposed control scheme.

• 대한전기학회논문지
• /
• 제32권6호
• /
• pp.191-198
• /
• 1983

This paper describes the aplication of different model which can be used for short-term load prediction. The model is based on Bohlin's approach to first develop a load profile model representing the nominal load component and the Box-Jenkins approach is used to predict residuals. An on-line algorithm using Kalman Filter and Time Series is implemented for and hour-ahead prediction. In the Kalman Filter system equation and measurement equation were fixed and parameters of Time Series were varied week after week. A set of data for Korea Electric Power Corporation from April to June 1981 was used for the evaluation of the model. As the result of this simulation 1.2% rms error was acquired.

• 대한전기학회논문지
• /
• 제39권7호
• /
• pp.729-739
• /
• 1990

This paper deals with the fault detection problem in uncertain linear/non-linear systems having both undermodelling and noise. A robust fault detection method is presented which accounts for the effects of noise, model mismatch and nonlinearities. The basic idea is to embed the unmodelled dynamics in a stochastic process and to use the nominal model with a predetermined fixed denominator. This allows the input /output relationship to be represented as a linear function of the system parameters and also facilitate the quatification of the effect of noise, model mismatch and linearization errors on parameter estimation by the Bayesian method. Comparisons are made via simulations with traditional fault detection methods which do not account for model mismatch or linearization errors. The new method suggested in this paper is shown to have a marked improvement over traditional methods on a number of simulations, which is a consequence of the fact that the new method explicitly for the effects of undermodelling and linearization errors.

• 한국정밀공학회지
• /
• 제17권1호
• /
• pp.68-75
• /
• 2000

In this paper, the robust controller design is performed for the speed control of the underwater vehicle diesel engine. Nonlinear model equations are acquired through the mathematical modeling using mean torque production model technique. It is very difficult to design the robust controller because those are high nonlinear and not expressed in terms of the matched uncertainty Therefore those are converted into the separable model into the linear nominal system and the nonlinear uncertainty term.

• Structural Engineering and Mechanics
• /
• 제16권3호
• /
• pp.275-294
• /
• 2003

In this study, 24 high-strength concrete dapped-end beams were tested to study the effects of the amount of main dapped-end reinforcement, the nominal shear span-to-depth ratio, and the concrete strength on the shear strength of dapped-end beams. Test results indicate that the shear strength of dapped ends increases with the increase in the amount of main dapped-end reinforcement and the concrete strength. The shear strength of dapped-end beam increases with the decrease of nominal shear span-to-depth ratio. A simplified method for determining the shear strength of reinforced concrete dapped ends is also proposed in this paper. The shear strengths predicted by the proposed method and the approach of PCI Design Handbook are compared with test results. The comparison shows that the proposed method can more accurately predict the shear strength of reinforced concrete dapped-end beams than the approach of PCI Design Handbook.

• 한국항해학회지
• /
• 제14권2호
• /
• pp.15-31
• /
• 1990

Recently, there is a tendency to design the large full ships with lower-powered engine as the means for energy saving in ship's navigation at seas. Such a lower-powered ship is anticipated to show the different propulsive performance in rough seas, because the fluctuation of main engine load of lower powered ship is relatively large as compared with higher-powered ship is relatively large as compared with higher-powered ship. The fluctuation of propeller load is nonlinear at racing condition in waves. It is due to the variation of inflow velocity into propeller, the propeller immersion and the characteristics of engine governor. In this paper, the theoretical calculation of the nominal speed loss and the numerical simulation for the nonlinear load fluctuation of a model ship in rough seas are carried out. From the results of calculation, the following are discussed. (1) The ratio of nominal speed loss to the speed in still water. (2) The manoeuvring ability of ship and the operational ability of main engine in a seaway. (3) A method of the evaluation for the fluctuation of propeller torque and revolution on the engine characteristics plane. (4) The effect of engine governor characteristics on the propeller load fluctuation.