• 유체기계공업학회:학술대회논문집
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• 2004.12a
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• pp.583-589
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• 2004

One of noticeable features in the cross flow fan is that a working fluid passes through impeller blade twice without distinction between the inlet and exit angles. Also, it does produce higher circumferential velocity than other types of blade at the same flow rate in accordance with the application of the forward curved shape. However, a design theory for the cross-flow fan has not yet been formed owing to an eccentric vortex, which is the remarkable characteristics, occurred in a cross-flow fan. Furthermore, the eccentric vortex, which is difficult to control of the size and position, is the important cause of performance decrease. In this study, experiments are carried out to estimate the similarity of the cross-flow fan with various scales and rotational velocity changes. Pressure coefficients to flow coefficients with various scales of the cross-flow fan are plotted to research the application of the general similarity law of the turbomachinery in the cross-flow fan with Archimedes spital, which is the important factor haying an effect on it.

• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• v.5 no.1
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• pp.46-52
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• 2002

A robust nonlinear observer, utilizing the sliding mode concept, is developed for the dynamic positioning of ships. The observer provides the estimates of linear velocities of the ship and bias from slowly varying environmental loads. It also filters out wave frequency motion to avoid wear of actuators and excessive fuel consumption. The main advantage of the proposed observer is in its robustness. Especially, the observer structure with a saturation function makes the proposed observer robust against neglected nonlinearties, disturbances and uncertainties. Since the mathematical model of DP ships is difficult to obtain and includes uncertainties and disturbances, it is very important for the observer to be robust. A nonlinear output feedback controller is derives based on the developed observer using the observer backstepping technique, and the global stability of the observer and control law is shown by Lyapunov stability theory.. A set of simulation was carried out to investigate the performance of the proposed observer for dynamic positioning of ships.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.56 no.1
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• pp.6-12
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• 2007

In this paper, an robust adaptive backstepping controller is proposed for the speed control of separately excited DC motor in pure electric vehicles. A general electric drive train of PEV is conceptually rearrange to major subsystems as electric propulsion, energy source, and auxiliary subsystem and the load torque is modeled by considering the aerodynamic, rolling resistance and grading resistance. Armature and field resistance, damping coefficient and load torque are considered as uncertainties and noise generated at applying load torque to motor is also considered. It shows that the backstepping algorithm can be used to solve the problems of nonlinear system very well and robust controller can be designed without the variation of adaptive law. Simulation results are provided to demonstrate the effectiveness of the proposed controller.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.04a
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• pp.210-211
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• 2022

Pruning is the most important work for the growth and aesthetics of street trees. It is also the most actively conducted maintenance work. However, the specifications, application methods, and cost criteria for pruning have not been systematically established. This has recently caused a lot of confusion in the practice of street tree pruning, such as indiscriminate pruning and lack of construction costs. Therefore, this study clarified the contents of work according to the form of pruning. It added 'aesthetic pruning,' which takes into account design. In addition, It revised equipment not in conformity with the law and excluded personnel necessary for on-site traffic control so that they could be reflected separately. As a result, this study is expected to contribute a lot to securing appropriate construction costs for maintaining street trees.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.6
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• pp.747-752
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• 2006

In this paper, the adaptive fuzzy sliding mode controller with two systems is designed. The existing sliding mode controller used to $approximation{\^{u}}(t)$ with discrete sgn function and sat function for keeping the state trajectories on the sliding surface[1]. The proposed controller decrease the disturbance for uncertain control gain and This paper is concerned with an Adaptive Fuzzy Sliding Mode Control(AFSMC) that the fuzzy systems ate used to approximate the unknown functions of nonlinear system. In the adaptive fuzzy system, we adopt the adaptive law to approximate the dynamics of the nonlinear plant and to adjust the parameters of AFSMC. The stability of the suggested control system is proved via Lyapunov stability theorem, and convergence and robustness properties ate demonstrated. Futhermore, fuzzy tuning improve tracking abilities by changing some sliding conditions. In the traditional sliding mode control, ${\eta}$ is a positive constant. The increase of ${\eta}$ has led to a significant decrease in the rise time. However, this has resulted in higher overshoot. Therefore the proposed ${\eta}$ tuning AFSMC improve the performances, so that the controller can track the trajectories faster and more exactly than ordinary controller. The simulation results demonstrate that the performance is improved and the system also exhibits stability.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.1 s.118
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• pp.72-79
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• 2007

As environmental vibration requirements on precision equipment become more stringent, use of pneumatic isolators has become more popular and their performance is subsequently required to be further improved. Dynamic performance of passive pneumatic isolators is related to various design parameters in a complicated manner and, hence, is very limited especially in low frequency range by volume of chambers. In this study, an active control technique, so called time delay control which is considered to be adequate for a low frequency or nonlinear system, is applied to a single chamber pneumatic isolator. The procedure of applying the tine delay control law to the pneumatic isolator is presented and its effectiveness in enhancement of transmissibility performance is shown based on simulation and experiment. Comparison between passive and active pneumatic isolators is also presented.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.405-413
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• 2006

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it an other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.

• Journal of Navigation and Port Research
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• v.31 no.1 s.117
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• pp.55-64
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• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.7
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• pp.75-84
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• 2003

To reduce the effects of the uncertainties due to the modeling error and aerodynamic coefficients, a nonlinear adaptive control system based on neural networks is proposed . Neural networks parameters are adjusted by using an adaptive law. The sliding mode control scheme is used to compensate for the effect of the approximation error of neural networks. Control parameters and neural networks structures are optimized to obtain better performance by using the genetic algorithm. By introducing the concept of multi-groups of populations, the genetic algorithm is modified so that individuals and groups can be simultaneously evolved . To verify the performance of the pro posed algorithm, the optimized neural networks control system is applied to an aircraft longitudinal dynamics.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.9
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• pp.749-757
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• 2021

In transportation missions using quadrotor, the payload may change the model parameters, such as mass, moment of inertia, and center of gravity. Moreover, if position of the payload is constantly changing during flight, the effect can adversely affect the control performances. To handle this issue, we suggest Model Reference Adaptive Control based on Linear Quadratic Regulator(LQR+MRAC) to compensate the uncertainty caused by payload. Firstly, the mathematical modeling with the fixed payload is derived. Second, Linear Quadratic Regulator (LQR) is used to design the reference model and baseline controller. Also, through the Stability method, Adaptive law is derived to estimate the model parameters. To verify the performance of proposed control scheme, we compared LQR and LQR+MRAC in situations where uncertainties exist. And, when the disturbance exist, the classic MRAC and proposed controller is compared to analyze the transient response and robustness.