• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.55-56
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• 2007

In this paper, a delay-dependent stability criterion for time-delayed linear parameter varying (LPV) systems is considered. Stability criterion has been developed on the basis of including x(t-h) and x(t) and introducing free variables to eliminate model dynamics. Since the resultant criterion is formed parameterized linear matrix inequalities (PLMIs), we propose a relaxation technique that allows to find an LMI formulation. Examples demonstrate the efficiency of the criterion over the existing results.

• Journal of Power Electronics
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• v.19 no.5
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• pp.1193-1202
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• 2019

A SMPMSM drive system is a typical nonlinear system with time-varying parameters and unmodeled dynamics. The speed outer loop and current inner loop control structures are coupled and coexist with various disturbances, which makes the speed control of SMPMSM drive systems challenging. First, an ultra-local model of a PMSM driving system is established online based on the algebraic estimation method of model-free control. Second, based on the backstepping control framework, model-free adaptive integral backstepping (MF-AIB) control is proposed. This scheme is applied to the permanent magnet synchronous motor (PMSM) drive system of an electric vehicle for the first time. The validity of the proposed control scheme is verified by system simulations and experimental results obtained from a SMPMSM drive system bench test.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.139-149
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• 2015

In this paper, we describe a new approach to perform real-time implementation of an robust controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for robot manipulator consisting of dual arm with eight degrees of freedom at the joint space and cartesian space.

• Nuclear Engineering and Technology
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• v.40 no.3
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• pp.213-224
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• 2008

The pumping of coolant in a liquid metal fast reactor may be performed with an annular linear induction electro-magnetic (EM) pump. Linear induction pumps use a traveling magnetic field wave created by poly-phase currents, and the induced currents and their associated magnetic field generate a Lorentz force, whose effect can be the pumping of the liquid metal. The flow behaviors in the pump are very complex, including a time-varying Lorentz force and pressure pulsation, because an induction EM pump has time-varying magnetic fields and the induced convective currents that originate from the flow of the liquid metal. These phenomena lead to an instability problem in the pump arising from the changes of the generated Lorentz forces along the pump's geometry. Therefore, a magneto-hydro-dynamics (MHD) analysis is required for the design and operation of a linear induction EM pump. We have developed a time-harmonic 2-dimensional axisymmetry MHD analysis method based on the Maxwell equations. This paper describes the analysis and numerical method for obtaining solutions for some MHD parameters in an induction EM pump. Experimental test results obtained from an induction EM pump of CLIP-150 at the STC "Sintez," D.V. Efremov Institute of Electro-physical Apparatus in St. Petersburg were used to validate the method. In addition, we investigated some characteristics of a linear induction EM pump, such as the effect of the convective current and the double supply frequency (DSF) pressure pulsation. This simple model overestimated the convective eddy current generated from the sodium flow in the pump channel; however, it had a similar tendency for the measured data of the pump performance through a comparison with the experimental data. Considering its simplicity, it could be a base model for designing an EM pump and for evaluating the MHD flow in an EM pump.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.2
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• pp.7-14
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• 2009

In this paper we consider the problem of global finite-time stabilization for a class of uncertain nonlinear systems which include uncertainties. The uncertainties are time-varying disturbances or parameters belong to a known compact set. The proposed design method is based on backstepping and dynamic exponent scaling using an augmented dynamics, from which, a dynamic smooth feedback controller is derived. The finite-time stability of the closed-loop system and boundedness of the controller are preyed by the finite-time Lyapunov stability theory and a new notion 'degree indicator'.

• Journal of the Korean Society of Safety
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• v.30 no.1
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• pp.14-20
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• 2015

A Large Eddy Simulation(LES) was performed for the prediction of unsteady dispersion behavior of hydrogen fluoride (HF). The HF leakage accident occurred at the Gumi fourth industrial complex was numerically investigated using the Fire Dynamics Simulator (FDS) based on the LES. The accident area was modeled three-dimensionally and time-varying boundary conditions for wind were adopted in the simulation for considering the realistic accident conditions. The Message Passing Interface (MPI) parallel computation technique was used to reduce the computational time. As a result, it was found that the present LES simulation could predict the unsteady dispersion features of HF near the accident area effectively. The dispersion behaviors of the leaked HF was much affected by the unsteady wind direction. The LES could predict the time variation of the HF concentration reasonably and give an useful information for the risk analysis while the prediction with the time-averaging concept of HF concentration had a limitation for the amount of HF concentration at specific location point. It was identified that the LES is very useful to predict the dispersion characteristics of hazardous chemicals.

• Ocean Systems Engineering
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• v.10 no.4
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• pp.399-414
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• 2020

A floating bridge is an innovative solution for deep-water and long-distance crossing. This paper presents a curved floating bridge's dynamic behaviors under the wind, wave, and current loads. Since the present curved bridge need not have mooring lines, its deep-water application can be more straightforward than conventional straight floating bridges with mooring lines. We solve the coupled interaction among the bridge girders, pontoons, and columns in the time-domain and to consider various load combinations to evaluate each force's contribution to overall dynamic responses. Discrete pontoons are uniformly spaced, and the pontoon's hydrodynamic coefficients and excitation forces are computed in the frequency domain by using the potential-theory-based 3D diffraction/radiation program. In the successive time-domain simulation, the Cummins equation is used for solving the pontoon's dynamics, and the bridge girders and columns are modeled by the beam theory and finite element formulation. Then, all the components are fully coupled to solve the fully-coupled equation of motion. Subsequently, the wet natural frequencies for various bending modes are identified. Then, the time histories and spectra of the girder's dynamic responses are presented and systematically analyzed. The second-order difference-frequency wave force and slowly-varying wind force may significantly affect the girder's lateral responses through resonance if the bridge's lateral bending stiffness is not sufficient. On the other hand, the first-order wave-frequency forces play a crucial role in the vertical responses.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.12
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• pp.2012-2018
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• 2004

The vibration of a semi-circular pipe conveying fluid is studied when the pipe is clamped at both ends. To consider the geometric nonlinearity, this study adopts the Lagrange strain theory for large deformation and the extensible dynamics based on the Euler-Bernoulli beam theory for slenderness assumption. By using the Hamilton principle, the non-linear partial differential equations are derived for the in-plane motions of the pipe, considering the fluid inertia forces as a kind of non-conservative forces. The linear and non-linear terms in the governing equations are compared with those in the previous study, and some significant differences are discussed. To investigate the dynamic characteristics of the system, the discretized equations of motion are derived from the Galerkin method. The natural frequencies varying with the flow velocity are computed from the two cases, which one is the linear problem and the other is the linearized problem in the neighborhood of the equilibrium position. Finally, the time responses at various flow velocities are directly computed by using the generalized-$\alpha$ method. From these results, we should consider the geometric nonlinearity to analyze dynamics of a semi-circular pipe conveying fluid more precisely.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.11
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• pp.753-763
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• 2015

This paper proposes a decentralized robust adaptive neural network control scheme using multiple radial basis function neural networks for electrically driven robot manipulators with bounded input voltages in the presence of uncertainties. The proposed controller considers both robot link dynamics and actuator dynamics. Practically, the controller gain coefficients applied at each joint may be nonlinear time-varying and the input voltage at each joint is saturated. The proposed robot controller overcomes the various uncertainties and the input voltage saturation problem. The proposed controller does not require any robot and actuator parameters. The adaptation laws of the proposed controller are derived by using the Lyapunov stability analysis and the stability of the closed-loop control system is guaranteed. The validity and robustness of the proposed control scheme are verified through simulation results.

• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.474-483
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• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.