• Journal of Advanced Marine Engineering and Technology
• /
• v.40 no.6
• /
• pp.516-526
• /
• 2016

This paper introduces a hovering-type autonomous underwater vehicle (AUV) developed for research and its fundamental motion performance results obtained by simulation and field test. The AUV can control its motion in four degrees of freedom (DOF) by means of its horizontal and vertical thrusters, and it is designed to provide a test-bed that facilitates ease of operation and experimentation. Prior to the field tests, six DOF equations of motion are developed, and a simulation program is constructed using MATLAB and Simulink to verify the essential motion performance of the designed vehicle. Furthermore, a proportional-integral-derivative (PID) controller and fuzzy PID controller are designed, and their performances are verified through a simulation. Field tests are performed to verify the motion performance of the AUV; way-point tracking is executed by the PID and fuzzy PID controllers. The results confirmed appropriate control performance under current disturbances.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.27 no.1
• /
• pp.28-35
• /
• 2017

Recently, conventional hydraulic car lift systems face the technological limitations due to a lack of height control. The demand for height controllability is required in many tasks such as wheel alignment, and requires compensation for the structural deformation of the lift caused by irregular load distribution. In order to resolve this limitation of the conventional car lift, in this work, a new type of a hydraulic vehicle lift using a magneto-rheological (MR) valve system is proposed and analyzed. Firstly, the dynamic model of vehicle lift is formulated to evaluate control performance; subsequently, an MR valve is designed to obtain the desired pressure drop required in the car lift. Next, a proportional-integral-derivative (PID) controller is formulated to achieve accurate control of the lifting height and then computer simulations are undertaken to show accurate height control performances of the proposed new car lift system.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.23 no.3
• /
• pp.318-324
• /
• 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.

• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.8
• /
• pp.831-838
• /
• 2013

This paper focused on the design of an efficient temperature controller for a plant with a wide range of operating temperatures. The greater the temperature difference a plant has, the larger the nonlinearity it is exposed to in terms of heat transfer. For this reason, we divided the temperature range into five sections, and each was modeled using ARMAX(auto regressive moving average exogenous). The movement of the dominant poles of the sliced system was analyzed and, based on the variation in the system parameters with temperature, optimal control parameters were obtained through simulation and experiments. From the configurations for each section of the temperature range, a temperature-based gain-scheduled controller (TBGSC) was designed for parameter variation of the plant. Experiments showed that the TBGSC resulted in improved performance compared with an existing proportional integral derivative (PID) controller.

• Journal of the Korean Solar Energy Society
• /
• v.33 no.3
• /
• pp.42-50
• /
• 2013

Solar thermal reactor was studied for hydrogen production with a two step thermochemical cycle including T-R(Thermal Reduction) step and W-D(Water Decomposition) step. NiFe2O4 and Fe3O4 supported by monoclinic ZrO2 were used as a catalyst device and Ni powder was used for decreasing the T-R step reaction temperature. Maintaining a temperature level of about $1100^{\circ}C$ and $1400^{\circ}C$, for 2-step thermochemical reaction, is important for obtaining maximum performance of hydrogen production. The controller was designed for adjusting high temperature solar thermal energy heating the foam-device coated with nickel- ferrite powder. A Pill temperature control system was designed based on 2-step thermochemical reaction experiment data(measured concentrated solar radiation and the temperature of foam device during experiment). The cycle repeated 5 times, ferrite conversion rate are 4.49~29.97% and hydrogen production rate is 0.19~1.54mmol/g-ferrite. A temperature controller was designed for increasing the number of reaction cycles related with the amount of produced hydrogen.

• Nuclear Engineering and Technology
• /
• v.54 no.4
• /
• pp.1253-1260
• /
• 2022

This paper reports the control method for the core power of the China initiative Accelerator Driven System (CiADS) facility. In the CiADS facility, an intense external neutron source provided by a proton accelerator coupled to a spallation target is used to drive a sub-critical reactor. Without any control rod inside the sub-critical reactor, the core power is controlled by adjusting the proton beam intensity. In order to continuously change the beam intensity, an adjustable aperture is considered to be used at the Low Energy Beam Transport (LEBT) line of the accelerator. The aperture size is adjusted based on the Proportional Integral Derivative (PID) controllers, by comparing either the setting beam intensity or the setting core power with the measured value. To evaluate the proposed control method, a CiADS core model is built based on the point reactor kinetics model with six delayed neutron groups. The simulations based on the CiADS core model have indicated that the core power can be controlled stably by adjusting the aperture size. The response time in the adjustment of the core power depends mainly on the adjustment time of the beam intensity.

• Ocean Systems Engineering
• /
• v.6 no.3
• /
• pp.265-287
• /
• 2016

The change of the global performance of a turret-moored FPSO (Floating Production Storage Offloading) with DP (Dynamic Positioning) control is simulated, analyzed, and compared for two different internal turret location cases; bow and midship. Both collinear and non-collinear 100-yr GOM (Gulf of Mexico) storm environments and three cases (mooring-only, with DP position control, with DP position+heading control) are considered. The horizontal trajectory, 6DOF (degree of freedom) motions, fairlead mooring and riser tension, and fuel consumptions are compared. The PID (Proportional-Integral-Derivative) controller based on LQR (linear quadratic regulator) theory and the thrust-allocation algorithm which is based on the penalty optimization theory are implemented in the fully-coupled time-domain hull-mooring-riser-DP simulation program. Both in collinear and non-collinear 100-yr WWC (wind-wave-current) environments, the advantage of mid-ship turret is demonstrated by the significant reduction in heave at the turret location due to the minimal coupling with pitch mode, which is beneficial to mooring and riser design. However, in the non-collinear WWC environment, the mid-turret case exhibits unfavorable weathervaning characteristics, which can be reduced by employing DP position and heading controls as demonstrated in the present case studies. The present study also reveals the plausible cause of the failure of mid-turret Gryphon Alpha FPSO in milder environment than its survival condition.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.22 no.1
• /
• pp.129-137
• /
• 2016

In the present study we verified performance of feed-forward control algorithm using short term prediction of ship motion information by taking advantage of developed numerical simulation model of FPSO motion. Up until now, various studies have been conducted about thrust control and allocation for dynamic positioning systems maintaining positions of ships or marine structures in diverse sea environmental conditions. In the existing studies, however, the dynamic positioning systems consist of only feedback control gains using a motion of vessel derived from environmental loads such as current, wind and wave. This study addresses dynamic positioning systems which have feedforward control gain derived from forecasted value of a motion of vessel occurred by current, wind and wave force. In this study, the future motion of vessel is forecasted via Brown's Exponential Smoothing after calculating the vessel motion via a selected mathematical model, and the control force for maintaining the position and heading angle of a vessel is decided by the feedback controller and the feedforward controller using PID theory and forecasted vessel motion respectively. For the allocation of thrusts, the Lagrange Multiplier Method is exploited. By constructing a simulation code for a dynamic positioning system of FPSO, the performance of feedforward control system which has feedback controller and feedforward controller was assessed. According to the result of this study, in case of using feedforward control system, it shows smaller maximum thrust power than using conventional feedback control system.

• Journal of Navigation and Port Research
• /
• v.39 no.6
• /
• pp.457-463
• /
• 2015

A gas turbine engine plays an important role as a prime mover that is used in the marine transportation field as well as the space/aviation and power plant fields. However, it has a complicated structure and there is a time delay element in the combustion process. Therefore, an elaborate mathematical model needs to be developed to control a gas turbine engine. In this study, a modeling technique for a gas generator, a PLA actuator, and a metering valve, which are major components of a gas turbine engine, is explained. In addition, sub-models are obtained at several operating points in a steady state based on the trial running data of a gas turbine engine, and a method for controlling the engine speed is proposed by designing an NPID controller for each sub-model. The proposed NPID controller uses three kinds of gains that are implemented with a nonlinear function. The parameters of the NPID controller are tuned using real-coded genetic algorithms in terms of minimizing the objective function. The validity of the proposed method is examined by applying to a gas turbine engine and by conducting a simulation.

• International Journal of Ocean System Engineering
• /
• v.2 no.3
• /
• pp.185-194
• /
• 2012

A Macroscopic combination of two or more distinct materials is commonly referred to as a "Composite Material", having been designed mechanically and chemically superior in function and characteristic than its individual constituent materials. Composite materials are used not only for aerospace and military, but also heavily used in boat/ship building and general composite industries which we are seeing increasingly more. Regardless of the various applications for composite materials, the industry is still limited and requires better fabrication technology and methodology in order to expand and grow. An example of this is that the majority of fabrication facilities nearby still use an antiquated wet lay-up process where fabrication still requires manual hand labor in a 3D environment impeding productivity of composite product design advancement. As an expert in the advanced composites field, I have developed fabrication skills with the use of machinery based on my past composite experience. In autumn 2011, the Korea government confirmed to fund my project. It is the development of a composite sanding machine. I began development of this semi-robotic prototype beginning in 2009. It has possibilities of replacing or augmenting the exhaustive and difficult jobs performed by human hands, such as sanding, grinding, blasting, and polishing in most often, very awkward conditions, and is also will boost productivity, improve surface quality, cut abrasive costs, eliminate vibration injuries, and protect workers from exposure to dust and airborne contamination. Ease of control and operation of the equipment in or outside of the sanding room is a key benefit to end-users. It will prove to be much more economical than normal robotics and minimize errors that commonly occur in factories. The key components and their technologies are a 360 degree rotational shoulder and a wrist that is controlled under PLC controller and joystick manual mode. Development on both of the key modules is complete and are now operational. The Korean government fund boosted my development and I expect to complete full scale development no later than 3rd quarter 2012. Even with the advantages of composite materials, there is still the need to repair or to maintain composite products with a higher level of technology. I have learned many composite repair skills on composite airframe since many composite fabrication skills including repair, requires training for non aerospace applications. The wind energy market is now requiring much larger blades in order to generate more electrical energy for wind farms. One single blade is commonly 50 meters or longer now. When a wind blade becomes damaged from external forces, on-site repair is required on the columns even under strong wind and freezing temperature conditions. In order to correctly obtain polymerization, the repair must be performed on the damaged area within a very limited time. The use of pre-impregnated glass fabric and heating silicone pad and a hot bonder acting precise heating control are surely required.