• Journal of Advanced Marine Engineering and Technology
• /
• v.22 no.2
• /
• pp.232-240
• /
• 1998

This paper deals with a hybrid position/force control of a robot which is moving on the constrained object with constant force. The proposed controller is composed of a position and force controller. The position controller has a nonlinear compensator which is based on the dynamic robot model and the force controller is attached by feedforward element. A direct drive robot with hard nonlinearity which is controlled by the proposed algorithm has moved on the constrained object with a high stiffness and low stiffness. The results show that the proposed controller has more vibration suppression effects which is occurred to the constrained object with a high stiffness, than a existing feedback controller, and accurate force control can be obtained by comparatively a small feedback gain.

• Journal of Korean Association for Spatial Structures
• /
• v.15 no.4
• /
• pp.81-89
• /
• 2015

Damped outrigger systems have been proposed as a novel energy dissipation system to protect tall buildings from severe earthquakes and strong wind loads. In this study, semi-active damping devices such as magnetorheological (MR) dampers instead of passive dampers are installed vertically between the outrigger and perimeter columns to achieve large and adaptable energy dissipation. Control performance of semi-active outrigger damper system mainly depends on the control algorithm. Fuzzy logic control algorithm was used to generate command voltage sent to MR damper. Genetic algorithm was used to optimize the fuzzy logic controller. An artificial earthquake load was generated for numerical simulation. A simplified numerical model of damped outrigger system was developed. Based on numerical analyses, it has been shown that the semi-active damped outrigger system can effectively reduce both displacement and acceleration responses of the tall building in comparison with a passive outrigger damper system.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.498-498
• /
• 2000

A study on the robust control of a composite beam with a distributed PVDF sensor and piezo-ceramic actuator is presented in this paper. 1st and 2nd natural frequencies are considered in the modeling, because robust control theory which has robustness to structured uncertainty is adopted to suppress the vibration. If the controllers designed by H$_{\infty}$ theory do not satisfy control performance, it is improved by $\mu$-synthesis method with D-K iteration so that the $\mu$-controller based on the structured singular value satisfies the nominal performance and robust performance. Simulation and experiment were carried out with the designed controller and the verification of the robust control properties was presented by results.

• Journal of Power System Engineering
• /
• v.13 no.3
• /
• pp.59-64
• /
• 2009

This study presents a new approach to pressure control of a impression cylinder for roll coater which is a kind of face pressure control between blanket roll and impression roll. Roll-to-Roll method for printing is a very useful tool for mass production such as RFID elements, smart sensors and solar cell devices. In this study, a decupling control strategy of the roll coater which is a combination of a cylinder system, a dry system and two pressure regulators with two pneumatic cylinders was discussed. Also, the characteristics of component such as a pressure regulator having a pressure reducing function and the movement of a blanket roll and a impression cylinder were analyzed using the Matlab software. From this results, the techniques of a shock and a vibration reduction were suggested.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.05a
• /
• pp.425-426
• /
• 2006

This study proposes a new simulation method of high speed rotor system with the dynamic model using multi body dynamic analysis tool and with a new phase modulating technique as a system control algorithm. A dynamic model of high speed rotor system was built by, ADAMS, commercial multi body dynamic program. The phase modulating technique is a new control algorithm for a rotor system. This algorithm can control system using an adaptive proportional gain and an adaptive phase which are obtained from periodical input signal. To make control system, a ADAMS model and component parameters and phase controller was composed by Matlab Simulink And simulate it.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.9
• /
• pp.106-110
• /
• 2002

A need fer stable and comfortable cabins in the high-speed passenger ships has increased. For active control of the motion of the ship cabin, a few control algorithms have been applied to the three dimensional real models in the vibration basin. Experimental results show that the feedforward neural network with a linear feedback controller is one of the promising control algorithms for this active control.

• Journal of KSNVE
• /
• v.9 no.6
• /
• pp.1137-1144
• /
• 1999

Most of ANC(active noise control) researches are focused on adaptive algorithms, computer simulations and implementations of single-channel system in experimental environments. In this paper, a multi-channel ANC system based on DSP's was developed to obtain global attenuations over wide region and applied to the active control of the humming noise generated by a transformer. The developed ANC system including 24 microphones and 12 spearkers was applied to the real transformer noise reduction problem. Results showed that the control system could successfully control the humming noise over the region of interest.

• Journal of Mechanical Science and Technology
• /
• v.20 no.11
• /
• pp.1823-1833
• /
• 2006

An immune algorithm is a kind of evolutional computation strategies, which is developed in the basis of a real immune mechanism in the human body. Recently, scientific or engineering applications using this scheme are remarkably increased due to its significant ability in terms of adaptation and robustness for external disturbances. Particularly, this algorithm is efficient to search optimal parameters against complicated dynamic systems with uncertainty and perturbation. In this paper, we investigate an immune algorithm embedded Proportional Integral Derivate (called I-PID) control, in which an optimal parameter vector of the controller is determined offline by using a cell-mediated immune response of the immunized mechanism. For evaluation, we apply the proposed control to mitigation of vibrations for nonlinear structural systems, cased by external environment load such as winds and earthquakes. Comparing to traditional controls under same simulation scenarios, we demonstrate the innovation control is superior especially in robustness aspect.

• Journal of Power System Engineering
• /
• v.8 no.1
• /
• pp.69-74
• /
• 2004

A structure-control combined optimal design problem is discussed taking a 3-D truss structure as a design object. We use descriptor forms for a controlled object and a generalized plant because the structural parameters appear naturally in these forms. We consider not only minimum weight design problem for structure system, but also suppression problem of the effect of disturbances for control system as the purpose of the design. A numerical example shows the validity of combined optimal design of structure and control systems. We also consider the validity of sensor-actuator collocation for control system design in this paper.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.1
• /
• pp.1-9
• /
• 2003

An active control of the lateral vibration of a translating tensioned Euler-Bemoulli beam is investigated. The dynamics of the translating tensioned beam is represented by a non-linear hyperbolic partial differential equation. A right boundary control law based upon the Lyapunov's second method is derived. The transverse motion of the translating tensioned beam is controlled by a time-varying external force besides a passive damping applied at the right boundary. Exponential stability of the closed loop system is proved. Simulation results demonstrate the effectiveness of the proposed controller.