• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.123-129
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• 1996

Computed torque method has been used for precise trajectory control of the robotic system that involves nonlinear dynamics. It is hard to know exact values of robot system parameters, and the robot arm receives umpredictable interference from the working environment. These disturbances, especially in a direct drive robot, are directly transmitted to actuating motor without reduction. Modelling error and distrubance can cause significant errors in a trajectory tracking problem. In this paper, we propose a new controller that $H_{\infty}$controller is conbined to robot system linearized by computed torque. Simula- tions are made for comparing the performance of the proposed controller with that of a nonlinear $H_{\infty}$ controller proposed by Chen and also computed torque method.hod.

• Journal of Korea Technical Association of The Pulp and Paper Industry
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• v.35 no.3
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• pp.1-12
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• 2003

The complexity of the papermaking system accelerates interactions between a large number of variables involved. The process operation, therefore, is subject to frequent perturbations by disturbance. Dynamic modelling is a useful tool for characterizing the transient behavior and selecting the best control strategies to reject disturbances. In this study we developed a dynamic simulation model of a fine paper production process, which consists of stock preparation, wire sections, white water circulations, and broke system. It focused on dynamic simulation in its role for developing control strategies and studying control loop dynamics related to filler loading for ash control. The results emphasized the importance of filler-loading position and length of control loop for rapid ash control and process stabilization.

• Journal of the Korean Institute of Navigation
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• v.25 no.4
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• pp.407-415
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• 2001

In the present study, irregular disturbances to ship dynamics is proposed, where irregular disturbances implying irregular wave and the fluctuating component of wind for the evaluation of automatic steering system of ship in following seas. Prediction method based on the principle of linear superposition. Irregular wave disturbances in following seas is calculated by frequency variation method. The mathematical model of each element of an automatic steering system is derived, which takes account of a few non-linear mechanisms. PD(Proportional-Derivative) controller and low-pass filter with a weather adjustment are adopted to modelling the characteristics of an autopilot. Performance index is introduced from the viewpoint of energy saving, which derived from the concept of energy loss on ship propulsion. Finally, the present methods are applied to two typical types of ship ; an ore carrier and a fishing boat. The various effects of control constants of autopilot on propulsive energy loss are investigated

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.10a
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• pp.438-444
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• 1997

Recently, optical disk drives are increasingly demanded to have higher speed as well as high information density, especially for applications like CD-ROM drives. To this end, improvement of their optical pick-up structure and control is recognized the very challenging issue. In this paper, the 2-D motion of the pick-up is first analytically modelled to identify the cause and effect of the troublesome cross coupling between auto-focusing and tracking directions. Subsequently, the overall system equations are derived to include the dynamics of the related components in the auto-focusing servo system. While its unmeasurable parameters being estimated by the least square error method, a simple but decent linear model can be obtained within its operating frequency range. To design the high speed and robust positional servo controller, the design specifications are detailed and H$\sub$.inf./ control method is employed based on the simple model. Using the pickup in a commercial 8 fold speed CD-ROM drive as an example, performance of the designed controller is verified by realtime experiments.

• Nuclear Engineering and Technology
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• v.55 no.4
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• pp.1555-1562
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• 2023

Natural circulation phenomena have been nowadays largely revisited aiming to investigate the performances of passive safety systems in carrying-out heat removal under accidental conditions. For this purpose, assessment studies using CFD (Computational Fluid Dynamics) and also 3D thermal-hydraulic system codes are considered at different levels of the design and safety demonstration issues. However, these tools have not being extensively validated for specific natural circulation flow regimes involving flow mixing, temperature stratification, flow recirculation and instabilities. In the present study, an experimental test case based on a small-scale pool test rig experiment performed by Korea Atomic Energy Research Institute, is considered for code-to-code and code-to-experimental data comparison. The test simulation is carried out using the FLUENT and the 3D thermal-hydraulic system CATHARE-2 codes. The objective is to evaluate and compare their prediction capabilities with respect to the test conditions of the experiment. It was observed that, notwithstanding their numerical and modelling differences, similar agreement results are obtained. Nevertheless, additional investigations efforts are still needed for a better representation of the considered phenomena.

• Wind and Structures
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• v.24 no.5
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• pp.465-480
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• 2017

Modelling an equilibrium atmospheric boundary layer (ABL) in computational wind engineering (CWE) and relevant areas requires the boundary conditions, the turbulence model and associated constants to be consistent with each other. Among them, the inflow boundary conditions play an important role and determine whether the equations of the turbulence model are satisfied in the whole domain. In this paper, the idea of modeling an equilibrium ABL through specifying proper inflow boundary conditions is extended to the SST $k-{\omega}$ model, which is regarded as a better RANS model for simulating the blunt body flow than the standard $k-{\varepsilon}$ model. Two new sets of inflow boundary conditions corresponding to different descriptions of the inflow velocity profiles, the logarithmic law and the power law respectively, are then theoretically proposed and numerically verified. A method of determining the undetermined constants and a set of parameter system are then given, which are suitable for the standard wind terrains defined in the wind load code. Finally, the full inflow boundary condition equations considering the scale effect are presented for the purpose of general use.

• Tribology and Lubricants
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• v.18 no.6
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• pp.402-410
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• 2002

In this study, a hydrodynamic analysis of the reciprocating compressor crankshaft considering a finite bearing modelling of the journal bearings used in small refrigeration compressors is performed. In the problem formulation of the compression mechanism dynamics, all corresponding hydrodynamic forces and moments are considered using the finite bearing analysis in order to determine the crankshaft trajectory at each step. The solution of the Reynolds' equation is determined numerically using a finite difference method and a Newton-Raphson procedure was employed in solving the dynamic equations of the crankshaft. The crankshaft orbits fur the finite bearing model and short bearing theory were used to compare the effect of the hydrodynamic farces of the journal bearings on the dynamic and lubrication characteristics of the crankshaft-journal bearing system. Results show that the finite bearing model for the journal bearings must be considered in calculating for the accurate dynamic characteristics of the reciprocating compressor crankshaft.

• Structural Engineering and Mechanics
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• v.2 no.1
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• pp.95-112
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• 1994

This paper describes the formulation and application of a dynamic model for a conventional rail track subjected to arbitary loading functions that simulate wheel/rail impact forces. The rail track is idealized as a periodic elastically coupled beam system resting on a Winkler foundation. Modal parameters of the track structure are first obtained from the natural vibration characteristics of the beam system, which is discretized into a periodic assembly of a specially-constructed track element and a single beam element characterized by their exact dynamic stiffness matrices. An equivalent frequency-dependent spring coefficient representing the resilient, flexural and inertial characteristics of the rail support components is introduced to reduce the degrees of freedom of the track element. The forced vibration equations of motion of the track subjected to a series of loading functions are then formulated by using beam bending theories and are reduced to second order ordinary differential equations through the use of mode summation with non-proportional modal damping. Numerical examples for the dynamic responses of a typical track are presented, and the solutions resulting from different rail/tie beam theories are compared.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.7
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• pp.1074-1080
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• 2015

In the last decades, the increasing interest in unmanned aerial vehicle(UAV) for military, surveillance, and rescue applications made necessary the development of flight control theory and body structure more and more efficient and fast. In this paper, we describe the design and performance of a prototype hexarotor UAV platform featuring an inertial measurement unit(IMU) based autonomous-flying for use in bluetooth communication environments. The proposed system comprises the construction of the test hexarotor platform, the implementation of an IMU, dynamic modeling and simulation in the hexarotor helicopter. Furthermore, the hexarotor helicopter with implemented IMU is connected with a micro controller unit(ARM-cortex) board. The P-PD control algorithm was used to control the hexarotor. We used the Matlab software to help us to tune the P-PD control parameters for quick response and minimizing the fluctuation. The control simulation and experiment on the real system are implemented in the test platform, evaluated and compared against each other.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2008.05a
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• pp.263-267
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• 2008

In this work the realistic install performance analysis of a helicopter was performed together with power extraction enabling to operate auxiliary system as well as intake pressure loss, loss due to bleed air, etc. which must be considered in practical propulsion system's performance modelling to be installed to the airframe. The pressure loss occurring in intake was estimated from the intake performance map with relationships of Mach Number and pressure loss. In order to evaluate the proposed installed performance model, the experimental data for comparison must be needed when mounted in propulsion system. However because of lack of accessibility to such real data at the moment, the alternative way was made through comparison that the analysis results by the proposed model were compared with a wellknown commercial program GASTURB's analysis results. The validity of the proposed installed performance model was consequently confirmed because its average deferences from the GASTURB's results were within 0.5%.