• 한국소음진동공학회논문집
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• 제18권11호
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• pp.1185-1191
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• 2008

This paper presents an approach to define an optimal piezoactuator length to actively control structural vibration. The optimal ratio of the piezoactuator length against the beam length when a pair of piezoceramic actuator and accelerometer is used to suppress unwanted vibration with direct velocity feedback(DVFB) control strategy is not clearly defined so far. It is well known that DVFB control can be very useful when a pair of sensor and actuator is collocated on structures with a high gain and excellent stability. It is considered that three different collocated Pairs of piezoelectric actuators (20, 50 and 100 mm long) and accelerometers installed on three identical clamped-clamped beams($30{\times}20{\times}1mm$). The response of each sensor-actuator pair requires strictly positive real(SPR) property to apply a high feedback gain. However the length of the piezoactuator affects the SPR property of the sensor-actuator response. Intensive simulation and experiment show the effect of the actuator length variation is strongly related with the frequency range of the SPR property. Thus an optimal length ratio was suggested to obtain relevant performance with a good stability under the DVFB strategy.

• 한국정보통신학회논문지
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• 제20권4호
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• pp.698-706
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• 2016

이동로봇을 원하는 위치로 최단시간 안에 이동시키기 위해 최적제어문제를 풀어야 하지만 비선형시스템이므로 해석적 접근이 매우 어렵다. 본 논문에서 유전알고리즘을 사용하여 이동로봇의 최적제어이득을 구한다. 로봇 방정식이 비선형식이므로 초기치에 따라 최적제어이득은 다르게 결정된다. 따라서 초기치 범위를 적절한 개수의 격자점으로 이산화시킨 뒤 해당 격자점에서 유전알고리즘으로 최적제어이득을 구한다. 일반적인 초기치에 대한 제어이득은 신경회로망으로 구하며 해당 격자점의 초기치와 그에 대한 최적제어이득을 신경회로망 학습데이터로 사용하고 학습시킨다. 이산화된 격자점이 아닌 다른 초기치에 대한 제어이득은 신경회로망으로부터 구한다. 마지막으로 본 논문의 제어방법의 유용성을 시뮬레이션 연구로 확인하고자 한다.

• 대한전기학회논문지
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• 제36권5호
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• pp.360-366
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• 1987

The design problem of optimal constant PIDM (proportional-integral-derivative and measurable variable) feedback controller for linear time-invariannt systems is investigated with the time-weighted quadratic performance index. Necessary conditions for an optimality of the controller are derived and an algorithm for computing the optimal feedback gain is presented. It is shown via example that the design mithod using the time-weighted quadratic performance index improves the transient responses of the closed-loop system.

• 전기의세계
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• 제28권2호
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• pp.55-60
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• 1979

In this paper, a new method of the optimal control of the regulator and tracking control problem concerning the dimension of the velocity is derived and applied for the second order plant. The output position, output velocity and the control effort are plottcd with time applying analog computer simulation. And it is compared with the output of the ordinary optimal control law in case the reference input is given by velocity function, and studied about the gain of this method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.759-764
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• 1987

The design and application of optimal control technique to the rotary shearing system is mentioned in this paper. To maximize the accuracy in both shearing length and blade speed at shearing, time-varying gain patterns for closed loop control are designed on the basis of fixed terminal time constrained optimal regulator. The performance accuracy in real application has greatly improved than the conventional way of shearing control.

• 한국철도학회:학술대회논문집
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• 한국철도학회 1998년도 창립기념 춘계학술대회 논문집
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• pp.442-449
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• 1998

Since it is essential for traction motors to reduce size and weight to achieve given traction effort, they need high input voltage. But the lack of input voltage occurs periodically due to the characteristics of train system. Therefore traction inverters use over-modulation PWM to maximize inverter's voltage gain. On the other hand, IGBT inverters can use higher frequency twice than GTO ones, which resulted in the need for novel optimal synchronous PWM strategy. This paper suggests that linearly-compensated overmodulation/optimal synchronous PWM strategy and also the simulation results of the method for a real traction motor-intertia model are presented.

• 한국군사과학기술학회지
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• 제11권3호
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• pp.5-12
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• 2008

This paper presents the features of an impact angle constrained open-loop optimal trajectory which is given by a function of initial conditions and optimal guidance gains. Using missile motion described by linearized kinematic equations and a proper form of performance index, an inverse optimal problem is suggested to investigate the gains related to the performance index. The flight trajectory and time-to-go can be shaped in terms of the optimal guidance gains. The results are evaluated by 3-DOF simulation.

• 한국생산제조학회지
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• 제23권3호
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• pp.318-324
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• 2014

Recent years have witnessed a growing demand for a wide variety of high-performance industrial robots. In this paper, for accurate gain tuning of a 6-axis articulated industrial robot with reduced noise, a program routine for a dynamic signal analyzer (DSA) using the frequency response method will be programmed using $LabVIEW^{(R)}$. Then, robot transfer functions can be obtained experimentally using the frequency response method with the DSA program. Data from the robot transfer functions are transformed into Bode plots, based on which an optimal gain tuning will be executed. Gain tuning can enhance the response quality of the output signal for a given input signal during real-time control of the robot. The effectiveness of our proposed technique will be verified by implementation with a (lab-manufactured) 6-axis articulated industrial robot (hereinafter called "RS2") and comparison with the zero position gain tuning, as well as other positions.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.271-272
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• 2006

This paper presented a new experimental gain tuning technique for a Multi-Axis Servo System. First, the investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer (DSA) was performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function was obtained. In turn, the integral gain of a servo controller can be found out by using the Integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller has been obtained by using the Bode plot of the closed loop transfer function. We have also proposed the technique to find out an optimal parameter of a notch filter, which has a great influence on vibration reduction, by using the damping factor extracted from the Bode plot of closed loop transfer function.

• 전자공학회논문지
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• 제51권1호
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• pp.90-96
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• 2014

본 논문은 광대역 특성의 뱅뱅 디지털 위상 동기 루프를 설계함에 있어 최적의 루프 이득 선정을 통한 실용적인 선형화 설계 기법을 제안한다. 기존의 이론적 파라미터 설계 기법을 광대역 클럭 발생기 회로에 적용함에 있어 한계점을 설명하고 실제 구현된 뱅뱅 디지털 위상 동기 루프 설계에 대해서 살펴보았다. 본 논문에서는 정수 어레이와 디더 이득은 크게 하되 비례 이득을 작게 설정하여 뱅뱅 디지털 위상 동기 루프의 리미티드 사이클 노이즈를 제거하였다. 제안된 설계 기법을 적용한 뱅뱅 디지털 위상 동기 루프는 기존의 구조에 비교하여 초소형, 저전력, 선형 특성 및 루프 대역폭 조절이 가능한 장점을 보이며, 성능의 우수성을 시뮬레이션을 통하여 검증하였다.