• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.355-355
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• 2000

The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a 개bot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Journal of Mechanical Science and Technology
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• 제15권5호
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• pp.580-591
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• 2001

This paper proposes a fuzzy-sliding mode control which is designed by a self tuning fuzzy inference method based on a genetic algorithm. Using the method, the number of inference rules and the shape of the membership functions of the proposed fuzzy-sliding mode control are optimized without the aid of an expert in robotics. The fuzzy outputs of the consequent part are updated by the gradient descent method. It is further guaranteed that the selected solution becomes the global optimal solution by optimizing Akaikes information criterion expressing the quality of the inference rules. In order to evaluate the learning performance of the proposed fuzzy-sliding mode control based on a genetic algorithm, a trajectory tracking simulation of the polishing robot is carried out. Simulation results show that the optimal fuzzy inference rules are automatically selected by the genetic algorithm and the trajectory control result is similar to the result of the fuzzy-sliding mode control which is selected through trial error by an expert. Therefore, a designer who does not have expert knowledge of robot systems can design the fuzzy-sliding mode controller using the proposed self tuning fuzzy inference method based on the genetic algorithm.

• 한국광학회지
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• 제14권2호
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• pp.194-199
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• 2003

FCM(Fast moving least square reproducing kernel point collocation method) 방식의 simulation tool을 이용하여 전기장으로 구동되는 초소형 전자 렌즈의 구동 특성을 조사·분석하였다. Einzel 렌즈의 retarding mode와 accelerating mode구동에서 포텐셜 분포는 유사하지만, electric field strength는 서로 다른 방향을 갖게 되어 서로 다른 형태의 전자 궤적을 보인다. 동일한 working distance에서 accelerating mode로 구동되는 전자렌즈는 retarding mode로 구동되는 경우보다 매우 높은focusing 전압을 필요로 한다.

• Wind and Structures
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• 제26권5호
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• pp.267-277
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• 2018

Numerical simulations are performed of a long flexible cylinder undergoing vortex-induced vibration at a Reynolds number of 500. The cylinder is pinned at both ends, having an aspect ratio of 100 (cylinder length to cylinder diameter) and a mass ratio of 4.2 (structural mass to displaced fluid mass). Temporal and spatial information on the cross-flow (CF) and in-line (IL) vibrations is extracted. High modal vibrations up to the $6^{th}$ in the CF direction and the $11^{th}$ in the IL direction are observed. Both the CF and IL vibrations feature a multi-mode mixed pattern. Mode competition is observed. The $2^{nd}$ mode with a low frequency dominates the IL vibration and its existence is attributed to a wave group propagating back and forth along the span. Distributions of fluid force coefficients are correlated to those of the CF and IL vibrations along the span. Histograms of the x'-y motion phase difference are evaluated from the total simulation time and a complete vibration cycle representing the standing or travelling wave pattern. Correlations between the phase difference and the vibrations are discussed. Vortex structures behind the cylinder show an interwoven near-wake pattern when the standing wave pattern dominates, but an oblique near-wake pattern when the travelling wave pattern prevails.

• Nuclear Engineering and Technology
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• 제51권7호
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• pp.1738-1748
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• 2019

Previous research has shown that the inclined condition has an impact on the natural circulation (natural circulation) mode operation of Floating Nuclear Power Plant (FNPP) mounted on the movable marine platform. Due to its compact structure, small volume, strong maneuverability, the Integral Pressurized Water Reactor (IPWR) is adopted as marine reactor in general. The OTSGs of IPWR are symmetrically arranged in the annular region between the reactor vessel and core support barrel in this paper. Therefore, many parallel natural circulation loops are built between the core and the OTSGs primary side when the main pump is stopped. and the inclined condition would lead to discrepancies of the natural circulation drive head among the OTSGs in different locations. In addition, the flow rate and temperature nonuniform distribution of the core caused by inclined condition are coupled with the thermal hydraulics parameters maldistribution caused by OTSG group operating mode on low power operation. By means of the RELAP5 codes were modified by adding module calculating the effect of inclined, heaving and rolling condition, the simulation model of IPWR in inclined condition was built. Using the models developed, the influences on natural circulation operation by inclined angle and OTSG position, the transitions between forced circulation (forced circulation) and natural circulation and the effect on natural circulation operation by different OTSG grouping situations in inclined condition were analyzed. It was observed that a larger inclined angle results the temperature of the core outlet is too high and the OTSG superheat steam is insufficient in natural circulation mode operation. In general, the inclined angle is smaller unless the hull is destroyed seriously or the platform overturn in the ocean. In consequence, the results indicated that the IPWR in the movable marine platform in natural circulation mode operation is safety. Selecting an appropriate average temperature setting value or operating the uplifted OTSG group individually is able to reduce the influence on natural circulation flow of IPWR by inclined condition.

• 대한전기학회논문지:전기물성ㆍ응용부문C
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• 제55권11호
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• pp.538-543
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• 2006

A high-Power continuous-wave (CW) ten-vane double-strapped magnetron oscillator has been investigated using three-dimensional (3D) particle-in-cell (PIC) numerical simulation code, MAGIC3D. The resonant modes and their resonant frequencies of the ten-vane strapped magnetron resonator were obtained to show a large mode separation near the ${\pi}$-mode. An electron cloud formed in an anode-cathode gap, called an interaction space was confined well enough to result in no leakage current. Five spokes were clearly observed in the electron cloud, which definitely ensured the ${\pi}$-mode oscillation in the ten-vane magnetron. Numerical simulations predicted that the saturated microwave output power measured at the coaxial output port was 5.41 kW at the microwave frequency of 893 MHz, corresponding to a power conversion efficiency of 72.6% when the external axial magnetic field was 1150 gauss and the electron beam voltage and current were 6 kV and 1.25 A, respectively.

• Journal of Advanced Marine Engineering and Technology
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• 제39권5호
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• pp.554-562
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• 2015

This paper describes an analysis of an architecture and control system of a firefighting cannon manipulator (FCM) composed of two joint axes and one water-shooting actuator. Because the orienting FCM motion is disturbed by the reaction force from water shooting, the water shooting force has been modeled for robust control. The dynamics model of the manipulator has been set up including the external force of water-shooting reaction on the manipulator. A PD Controller and Sliding Mode Controller have been designed and their performance been tested through simulation to track a desired trajectory under the disturbance of a water-shooting reaction. The simulation shows that the performance of the Sliding Mode Controller is better than that of the PD controller.

• Journal of information and communication convergence engineering
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• 제9권1호
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• pp.74-77
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• 2011

PSPICE modeling of a commercial LED driver IC (TOP245P) and PC817A optocoupler is proposed for the switch-mode power supply (SMPS) (applicable to LED driver) design and simulation. An analog behavioral model of the TOP245P IC including the shunt regulator, under-voltage(UV) detection, over-voltage(OV) shut-down and SR flip-flop is developed by using PSPICE. The empirical equation of PC817A current transfer ratio (CTR) is fitted from the datasheet of PC817A. Two types of SMPSs are simulated with the averaged-model and switching-model. The simulation results by the proposed PSPICE models are in good agreement with those in the data sheet and an experimental data.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2000년도 추계학술대회 논문집
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• pp.259-262
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• 2000

In this study, 3.1$\times$3.7$\times$0.365 $\textrm{mm}^2$ model of thickness-longitudinal vibration mode VHF ceramic resonator with (Pb,Ca)(Co,W,Ti)O$_3$ ceramics was simulated by ANSYS according to the electrode size. With the variations of electrode size of the model, fundamental and the third overtone dynamic ratio was investigated. At the ratio of electrode to model thickness(1/t) 2.5, third overtone dynamic ratio was largely increased. That model is suitable for 20 MHz resonator.

• Journal of Power Electronics
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• 제10권6호
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• pp.635-642
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• 2010

The paper presents a multimedia educational program of DC servo drives for distant learning with a special emphasis on sliding mode control. The program contains of three parts: animation, simulation and internet based measurement. The animation program explains the operation of DC motors, gives its time- and frequency-domain equations, transfer functions and the theoretical background necessary for controller design for DC servo motors. The simulation model of the DC servo motor and the controller can be designed by the students based on the animation program. The students can also test their controllers through the internet based measurement, which is the most important part from engineering point of view. After the measurements are executed, the students can download the measured data and compare them to the simulation results.