• The Journal of Korea Robotics Society
• /
• v.14 no.4
• /
• pp.348-356
• /
• 2019

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.

• Journal of Magnetics
• /
• v.18 no.1
• /
• pp.74-79
• /
• 2013

This paper proposes a sampling-based optimization method for electromagnetic design problems, where design sensitivities are obtained from the elaborate surrogate models based on the universal Kriging method and a local window concept. After inserting additional sequential samples to satisfy the certain convergence criterion, the elaborate surrogate model for each true performance function is generated within a relatively small area, called a hyper-cubic local window, with the center of a nominal design. From Jacobian matrices of the local models, the accurate design sensitivity values at the design point of interest are extracted, and so they make it possible to use deterministic search algorithms for fast search of an optimum in design space. The proposed method is applied to a mathematical problem and a loudspeaker design with constraint functions and is compared with the sensitivity-based optimization adopting the finite difference method.

• Nuclear Engineering and Technology
• /
• v.51 no.1
• /
• pp.163-169
• /
• 2019

The robust controller synthesis and analysis of the water level process in the U-tube system generator (UTSG) is addressed in this paper. The parameter uncertainties of the steam generator (SG) are modeled as multiplicative perturbations which are normalized by designing suitable weighting functions. The relative errors of the nominal SG model with respect to the other operating power level models are employed to specify the weighting functions for normalizing the plant uncertainties. Then, a robust controller is designed based on ${\mu}$-synthesis and D-K iteration, and its stability robustness is verified over the whole range of power operations. A gain-scheduled controller with $H_{\infty}$-synthesis is also designed to compare its robustness with the proposed controller. The stability analysis is accomplished and compared with the previous QFT design. The ${\mu}$-analysis of the system shows that the proposed controller has a favorable stability robustness for the whole range of operating power conditions. The proposed controller response is simulated against the power level deviation in start-up and shutdown stages and compared with the other concerning controllers.

• Journal of the Society of Naval Architects of Korea
• /
• v.53 no.6
• /
• pp.494-502
• /
• 2016

The accurate assessment of hull-appendage interaction in the early design stage is important to control the inflow to the propeller plane, which can cause undesirable hydrodynamic effects in terms of cavitation phenomenon. This paper describes a numerical analysis for the flow around a fully appended surface ship model for which KRISO has carried out a model test in the Large Cavitation Tunnel(LCT). This numerical study was performed with the LCT model test in a complementary manner for a good reproduction of the wake distribution of surface ships. A second order accurate finite volume method provided by a commercial computational fluid dynamics(CFD) program was used to solve the governing Reynolds Averaged Navier-Stokes(RANS) equations, where the SST $k-{\omega}$ model was used for turbulence closure. The numerical results were compared to available LCT experimental data for validation. The calculations gave good predictions for the boundary layer profiles on the walls of the empty cavitation tunnel and the wake at the propeller plane of the fully appended hull model in the LCT.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.5
• /
• pp.390-397
• /
• 2013

This paper presents a consensus algorithm for uMAS (uncertain Multi-Agent Systems). Unlike previous results in which only nominal models for agents are considered, it is assumed that the uncertain agent model belongs to a known polytope set. In the middle of deriving the proposed algorithm, a convex set is found which includes all uncertainties in the problem using convexity of the polytope set. This set plays an important role in designing the consensus algorithm for uMAS. Based on the set, a consensus condition for uMAS is proposed and the corresponding consensus design problem is solved using LMI (Linear Matrix Inequality). Simulation result shows that the proposed consensus algorithm successfully leads to consensus of the state of uMAS.

• International Journal of Aeronautical and Space Sciences
• /
• v.17 no.3
• /
• pp.341-351
• /
• 2016

In this present work, the effect of hole shapes, orientation and hole arrangements on film cooling effectiveness has been carried out. For this work a flat plate has been considered for the computational model. Computational analysis of film cooling effectiveness using different hole shapes with no streamwise inclination has been carried out. Initially, the model with an inclination of $30^{\circ}$ has been verified with the experimental data. The validation results are well in agreement with the results taken from literature. Five different hole shapes viz. Cylindrical, Elliptic, Triangular, Semi-Cylindrical and Semi-Elliptic have been compared and validated over a wide range of blowing ratios. The blowing ratios ranged from 0.67 to 1.67. Later, orientation of holes have also been varied along with the number of rows and hole arrangements in rows. The performance of film cooling scheme has been given in terms of centerline and laterally averaged adiabatic effectiveness. Semi-elliptic hole utilizes half of the mass flow as in other hole shapes and gives nominal values of effectiveness. The triangular hole geometry shows higher values of effectiveness than other hole geometries. But when compared on the basis of effectiveness and coolant mass consumption, Semi-elliptic hole came out to give best results.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2006.11a
• /
• pp.934-937
• /
• 2006

This investigation presents a topology formulation to design optimal poroelastic acoustic foams to maximize absorbing ability. For successful formulation, a single set of equations based on Biot's theory is adopted and an appropriate material interpolation strategy is newly developed. Because there was no earlier attempt to solve poroelastic acoustic foam design problems in topology optimization setting, many challenging issues including modeling and interpolation must be addressed. First, the simulation accuracy by a proposed unified model encompassing acoustic air and poroelastic material was checked against analytical and numerical results. Then a material interpolation scheme yielding a distinct acoustic air-poroelastic material distribution was developed. Using the proposed model and interpolation scheme, the topology optimization of a two-dimensional poroelastic acoustic foam for maximizing its absorption coefficient was carried out. Numerical results show that the absorption capacity of an optimized foam layout considerably increases in comparison with a nominal foam layout.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.18 no.6
• /
• pp.523-529
• /
• 2013

A sensorless speed control of a permanent magnet synchronous motor(PMSM) which utilizes MRAS based scheme to estimate rotor speed and position is presented. Considering an error between real and estimated rotor position values, a state equation of PMSM in the synchronous d-q reference frame is represented. A state equation of model system which uses estimated speed and nominal parameter values is expressed. To minimize the errors between the derivatives of d-q axis currents of real and model system, MRAS based adaptation mechanisms for the estimation of rotor speed and position are derived. On the other hand, for the acceleration stage of motor just before the sensorless operation, an acceleration scheme using only d-axis current control is proposed. To show the validity of the proposed scheme, experimental works are carried out and evaluated. During acceleration stage, the acceleration scheme using only d-axis current command shows good acceleration performance and controlled current level. For the sensorless operation, at low speed (5% of rated speed), a good performance is observed.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.33 no.9
• /
• pp.903-912
• /
• 2009

This study is focused on simulation-based dimensional tolerance optimization process (DTOP) to minimize vehicle pulls by reduction of dimensional variation in front suspension system. In previous studies, the effect of tires and wheel alignment sensitivity have mainly been investigated to eliminate vehicle pulls in nominal design condition without allocating optimal tolerance level for selected components, among various factors regarding vehicle pulls such as vehicle design parameters, vehicle weight balance, tires, and environmental factors. Unfortunately, there are wide variations in the real vehicle, and these have impacted actual vehicle pulls, especially wheel alignment effects from suspension geometry variation has not been considered in the previous studies. In the tolerance design of suspension, tolerance variables with the uncertainty such as parts dimensional variation, assembly process, datum position and direction, and assembly tool tolerance has a great influence on the variation of the suspension dimensional performances. This study introduces total vehicle pull prediction model in considering major key factors for vehicle pull sensitivity. The Monte Carlo-based tolerance analysis model using Taguchi robust method is developed to optimize dimensional tolerance parameters, satisfying on the target variation level.

• Structural Engineering and Mechanics
• /
• v.38 no.4
• /
• pp.385-403
• /
• 2011

Continuous deep girders which transmit the gravity load from the upper wall to the lower columns have frequently long end shear spans between the boundary of the upper wall and the face of the lower column. This paper presents the results of tests and analyses performed on three 1:2.5 scale specimens with long end shear spans, (the ratios of shear-span/total depth: 1.8 < a/h < 2.5): one designed by the conventional approach using the beam theory and two by the strut-and-tie approach. The conclusions are as follows: (1) the yielding strength of the continuous RC deep girders is controlled by the tensile yielding of the bottom longitudinal reinforcements, being much larger than the nominal strength predicted by using the section analysis of the girder section only or using the strut-and-tie model based on elastic-analysis stress distribution. (2) The ultimate strengths are 22% to 26% larger than the yielding strength. This additional strength derives from the strain hardening of yielded reinforcements and the shear resistance due to continuity with the adjacent span. (3) The pattern of shear force flow and failure mode in shear zone varies depending on the amount of vertical shear reinforcement. And (4) it is necessary to take into account the existence of the upper wall in the analysis and design of the deep continuous transfer girders that support the upper wall with a long end shear span.