• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2009년도 추계학술대회 논문집
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• pp.258-263
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• 2009

This paper describes an analysis of the stability and performance of a large-capacity flywheel energy storage system (FESS) supported by active magnetic bearings. We designed and manufactured the system that can store up to 5kWh of usable energy at the maximum speed of 18,000 rpm. In order to analyze the stability of the systems accurately, we derived a rigid body rotor model, flexible rotor model using finite-element method, and a reduced-order model using modal truncation. The rotor model is combined with those of active magnetic bearings, amplifiers, and position sensors, resulting in a system simulation model. This simulation model is validated against experimental measurements. The stability of the system is checked from the pole locations of the closed-loop transfer functions. We also investigated the sensitivity function to quantify the robustness of the systems to the disturbances such as mass imbalance and sensor noises.

• Journal of Mechanical Science and Technology
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• 제20권11호
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• pp.1898-1913
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• 2006

This paper deals with the design of a yaw rate controller based on gain-scheduled H$\infty$ optimal control, which is intended to maintain the lateral stability of a vehicle. Uncertain factors such as vehicle mass and cornering stiffness in the vehicle yaw rate dynamics naturally call for the robustness of the feedback controller and thus H$\infty$ optimization technique is applied to synthesize a controller with guaranteed robust stability and performance against the model uncertainty. In the implementation stage, the feed-forward yaw moment by driver's steer input is estimated by the disturbance observer in order to determine the accurate compensatory moment. Finally, HILS results indicate that the proposed yaw rate controller can satisfactorily improve the lateral stability of an automobile.

• Korea-Australia Rheology Journal
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• 제19권1호
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• pp.27-33
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• 2007

The co-extrusion of multi-layer films has been studied with the focus on its process stability. As in the single-layer film casting process, the productivity of the industrially important multi-layer film casting and the quality of thus produced films have often been hampered by various instabilities occurring in the process including draw resonance, a supercritical Hopfbifurcation instability, frequently encountered when the draw ratio is raised beyond a certain critical value. In this study, this draw resonance instability along with the neck-in of the film width has been investigated for a three-layer film casting using a varying width non-isothermal 1-D model of the system with Phan-Thien and Tanner (PTT) constitutive equation known for its robustness in portraying extensional deformation processes. The effects of various process conditions, e.g., the aspect ratio, the thickness ratio of the individual film layers, and cooling of the process, on the stability have been examined through the nonlinear stability analysis.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.768-776
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• 2000

A robust high-speed motion controller is proposed. The proposed controller consists of the proximate time optimal servomechai는 (PTOD) for high-speed motion, disturbance observer (DOB) for robustness, friction compensator, and saturation handling element, In the proposed controller, DOB basically provides the chance to apply PTOS to non-double integrator systems by drastically reducing disturbances as well as unwanted signals due to difference between real system and the double integrator model. But, in DOB-based systems, if control input is saturated due to control input PTOS and/or DOB, overall system stability cannot be guaranteed. To solve this problem, ribust stability, when the control input is saturated. Eventually, a simple saturation handling element is inserted to maintain internal stability of overall system. Also, we explain the our two saturation handling methods, Additional Saturation Element (ASE_ and Self Adjusting Saturation (SAS), are the equivalent solutions of the saturation problem to maintain internal stability. The stability and performance of the proposed controller are verified through numerical simulations and experiments using a precision linear motor system.

• Journal of Electrical Engineering and Technology
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• 제9권6호
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• pp.1832-1842
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• 2014

A novel probabilistic small signal stability analysis (PSSSA) method considering load correlation is proposed in this paper. The superiority Latin hypercube sampling (LHS) technique combined with Monte Carlo simulation (MCS) is utilized to investigate the probabilistic small signal stability of power system in presence of load correlation. LHS helps to reduce the sampling size, meanwhile guarantees the accuracy and robustness of the solutions. The correlation coefficient matrix is adopted to represent the correlations between loads. Simulation results of the two-area, four-machine system prove that the proposed method is an efficient and robust sampling method. Simulation results of the 16-machine, 68-bus test system indicate that load correlation has a significant impact on the probabilistic analysis result of the critical oscillation mode under a certain degree of load uncertainty.

• Geomechanics and Engineering
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• 제1권1호
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• pp.85-96
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• 2009

The radius and coordinate of sliding circle are taken as searching variables in slope stability analysis. Genetic algorithm is applied for searching for critical factor of safety. In order to search for critical factor of safety in slope stability analysis efficiently and in a robust manner, some improvements for simple genetic algorithm are proposed. Taking the advantages of efficiency of neighbor-search of the simulated annealing and the robustness of genetic algorithm, a hybrid optimization method is presented. The numerical computation shows that the procedure can determine the minimal factor of safety and be applied to slopes with any geometry, layering, pore pressure and external load distribution. The comparisons demonstrate that the genetic algorithm provides a same solution when compared with elasto-plastic finite element program.

• Journal of Electrical Engineering and Technology
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• 제8권4호
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• pp.899-910
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• 2013

This paper presents a novel lateral stability control system for electric vehicle based on sideslip angle estimation through Kalman filter using the integration of a single antenna GPS receiver and yaw rate sensor. Using multi-rate measurements including yaw rate and course angle, time-varying parameters disappear from the measurement equation of the proposed Kalman filter. Accurate sideslip angle estimation is achieved by treating the combination of model uncertainties and external disturbances as extended states. Active front steering and direct yaw moment are integrated to manipulate sideslip angle and yaw rate of the vehicle. Instead of decoupling control design method, a new control scheme, "two-input two-output controller", is proposed. The extended states are utilized for disturbance rejection that improves the robustness of lateral stability control system. The effectiveness of the proposed methods is verified by computer simulations and experiments.

• 로봇학회논문지
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• 제18권2호
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• pp.172-181
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• 2023

This paper presents research on the stability of control for a quadruped robot with two different leg structure designs. The focus of the research is on the design and analysis of the leg structures in terms of their impact on the stability and robustness of the robot's motion. First, a static analysis was performed in the simulation to compare the structural strength of the legs when the same force was applied. Secondly, two quadruped robots were built, each equipped with differently designed legs, and performed trot gait walking in the real world. And the states of the robots and the torques of each joint were analyzed and compared. In conclusion, based on the results of structural analysis in simulation and the actual walking experiments with the robots, it was demonstrated that the legs designed to be structurally robust improved the control stability of the quadruped robot.

• Transactions on Control, Automation and Systems Engineering
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• 제4권2호
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• pp.169-175
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• 2002

A sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is performed for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1986년도 하계학술대회논문집
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• pp.140-144
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• 1986

In this paper an FIR(finite impulse response) filter and smoother are introduced for discrete time-invariant state-space models with driving noises. The FIR structure not only quarantees the BIBO stability and the robustness to parameter changes but also improves the filter divergence problem. It is shown that the impulse responses of the FIR filter and the smoother are obtained by Riccati-type difference equations and that they are to be time-invariant and reduced to very simple forms. For implementational purpose, recursive forms of the FIR filler and smoother are derived with each other used as the adjoint variable.