• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.947-950
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• 2008

PRT(Personal Rapid Transit) systems requires very short headways to increase the line capacity and a very reliable vehicle control algorithm for avoidance of the impact between vehicles. In this paper a brake curves (or speed patterns) for PRT system that make it possible the effective vehicle control and a collision avoidance algorithm are introduced. For the simulations and the evaluations of the proposed algorithm a combined simulation platform that consists of Labview Simulation Interface Toolkit and Matlab/Simulink and a specific hardware configuration are employed.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.607-612
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• 1992

This paper presents a tip position control of a single-link flexible arm with a payload by using closed loop control. The shifting problem of the arm from the initial position to desired position is considered by the variation of the displacement gain $G_{p}$ and velocity gain $G_{v}$. The system is composed of a flexible arm with payload, DC servomotor, and a ballscrew mechanism. The flexible arm is mounted on a mobile stage driven by a servomotor and ballscrew. As a result, the increase of the displacement and velocity gain respectively comes to the reduction of tip vibration. Theoretical results are approximately in good agreement with those obtained experimentally.y.y.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.348-351
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• 1995

This note proposes a robust LQR method for systems with structured real parameter uncertainty based on Riccati equation approach. Emphasis is on the reduction of design conservatism in the sense of quadratic performance by utilizing the uncertainty structure. The class of uncertainty treated includes all the form of additive real parameter uncertainty, which has the multiple rank structure. To handle the structure of uncertainty, the scaling matrix with block diagonal structure is introduced. By changing the scaling matrix, all the possible set of uncertainty structures can be represented. Modified algebraic Riccati equation (MARE) is newly proposed to obtain a robust feedback control law, which makes the quadratic cost finite for an arbitrary scaling matrix. The remaining design freedom, that is, the scaling matrix is used for minimizing the upper bound of the quadratic cost for all possible set of uncertainties within the given bounds. A design example is shown to demonstrate the simplicity and the effectiveness of proposed method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.219-224
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• 2001

An accurate tip position control of a single-link flexible manipulator subjected to torque disturbance is achieved by utilizing so called sliding mode controller with disturbance estimation (SMCDE). After formulating the governing equation of motion in the state 1pace representation, a stable sliding surface is designed via the LQR method. The SMCDE is then synthesized by integrating equivalent sliding mode controller with the disturbance estimator which is featured by an integrated average value of the imposed disturbance over a certain sampling period. The regulating tip motion of the flexible manipulator is evaluated by employing the proposed SMCDE.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.888-893
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• 2004

This paper proposed a dual actuator using bimorph PZT for information storage device based on prove array NSOM(Near-field Scanning Optical Microscopy). The gap between the media and the optical head should be maintained within the optical tolerance. Therefore, a new actuator having high sensitivity is required. Bimorph PZT, which has fast access time and high sensitivity characteristic, is suitable for this precise actuating system. This paper is focused on derivation of mathematical model of dual bimorph PZT actuator and control algorithm. Hamilton's principle was used for mathematical model. The model is verified by FEA(Finite Element Analysis), and compared with experimental results. Different control algorithms were used f3r two bimorph PZT actuating same direction and opposite direction. The gap between recording media and optical head was controlled within 20nm in experiment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.688-691
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• 2004

We have studied the possibility of global noise reduction by the sound power control through selection of distribution and impedance of absorptive materials. It is necessary to investigate the relation between the global sound energy in the field and the total sound power radiated by sources. In the previous work (1,2), the authors presented a useful design method to change boundary condition that can be useful to reduce noise in acoustically small enclosures. The possibility of total acoustic potential energy reduction by acoustic source power control is examined in an acoustically small cavity. Using acoustic energy balance equation, the relation between global noise control performance and absorptive material's arrangement/impedance is deduced. Numerical simulation is performed to interpret its physical meaning in terms of absorbent's distribution and impedance.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.730-735
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• 2004

Nowadays, most small form-factor drives adapt a load/unload mechanism and the flying height of the head becomes more and more low. So, the load/unload velocity also becomes one of the important factors to ensure the reliability of the load/unload operation. To control the load/unload velocity accurately, velocity sensing is most important because there is no special velocity sensor during the load/unload operation. In this paper, we proposed a very practical method that measures the velocity from the BEMF voltage of a VCM. Then, the proposed method is applied to the load/unload velocity control using 2.5' drives in order to verify its usefulness.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.2
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• pp.157-163
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• 2004

Optimal transducer positions are important as much as the control algorithms and hardware performance in the active noise control system. This study is similar to the past researches on the optimal transducer locations but with a far field noise source having a plane wave characteristic and the noise coming through an opening such as a window in an enclosure. Optimization techniques are used to find sets of optimal loudspeaker positions from a larger possible loudspeaker positions. Loudspeakers are placed on the surface of opening at the wall and inside of the enclosure. Using the measured acoustic transfer impedances and numerical simulations with the optimization technique, optimal positions are identified and compared. When a small number of loudspeakers are used. loudspeaker positions on the opening near the center seems to be the best place, but when a larger number of loudspeakers are used it was difficult to find simple patterns in the optimal positions. With the optimally positioned loudspeakers, optimal microphone positions are also studied.

• International Journal of Precision Engineering and Manufacturing
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• v.1 no.2
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• pp.105-114
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• 2000

An output feedback control (OFC) is presented for a linear stochastic system with known disturbance and applied to a flexible spacecraft for the reduction of residual vibration while allowing the natural deflection during operation. By converting the tracking problem into regulator problem, the OFC minimizes the expected value of a guadratic objective function composing of error stats which always remain on the intersection of sliding hypersurfaces. For the numerical evaluation with a flexible spacecraft, a large slewing maneuver strategy is devised with a tracking model for nominal trajectory and start-cost-stop strategy for economical maneuver in conjunction with the input shaping technique. The performance and efficacy of the proposed control scheme are illustrated with the comparison of different maneuver strategies.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.564-569
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• 2000

Model Based Compensator(MBC) is recently used for the analysis of multi-variable control in frequency domain. Target loop is designed by the demanding requirements such as cross-over frequency, disturbance rejection in low frequency domain, zero steady-state error, identification of maximum and minimum singular values and sensor noise rejection in high frequency domain. Loop transfer recovery will be continued in frequency domain until the plant with MBC comes close to the target loop. In this study, the technique using MBC is applied to the elevator vibration control system. It is found that this technique is very effective to control the vibration system.