• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.5
• /
• pp.452-461
• /
• 2007

Adaptive anti-sway and trajectory tracking control of overhead crane is presented, which utilizes Fuzzy Uncertainty Observer(FUO) and Fuzzy based Variable Structure Control(FVSC). We consider an overhead crane system which can be decoupled into the actuated and unactuated subsystems with its own lumped uncertainty such as parameter uncertainties and external disturbance. First, a new method for anti-sway control using FVSC is proposed to improve the conventional method based on Lyapunov direct method, while a conventional trajectory tracking control law using feedback linearization is directly adopted. Second, FUO is designed to estimate one of the two lumped uncertainties which can compensate both of them, based on the fact that two lumped uncertainties are coupled with each other. Then, an adaptive anti-sway control is proposed by incorporating the proposed FVSC and FUO. Under the condition that the observation error is Uniformly Ultimately Bounded(UUB) within an arbitrarily shrinkable region, the overall closed-loop system is shown to be Globally Uniformly Ultimately Bounded(GUUB). In addition, the Global Asymptotic Stability(GAS) of it is shown under the vanishing disturbance assumption. Finally, the effectiveness of the proposed scheme has been confirmed by numerical simulations.

• Journal of Electrical Engineering and Technology
• /
• v.9 no.1
• /
• pp.52-59
• /
• 2014

Operator training simulator, within a training environment designed to understand the principles and behavior of the railway system with respect to operator's entries and predefined scenario, can provide a very strong benefit in facilitating operators' handling undesired operations. This simulator consists of computer system and applications, and the purpose of applications is to generate the power and voltage and analyze the AC substation and DC railway, respectively. This paper describes a novel approach to the new techniques for AC/DC hybrid simulation for the operator training simulator in the railway system. We first propose the structure the database of railway system. Then, topology processing and power flow using a linked-list method based on the proposed database, full or decoupled newton-rapshon methods are presented. Finally, the interface between the analysis for AC substation using a newton-rapshon method and the analysis for DC railway system using a time-interval power flow method is described. We have verified and tested the developed algorithm through the extensive testing for the proposed test system. To demonstrate the validity of the developed algorithm, comparative simulations between the proposed algorithm and PSS/E for the test system were conducted.

• Water for future
• /
• v.27 no.2
• /
• pp.155-166
• /
• 1994

Various Eulerian-Lagrangian numerical models for the one-dimensional longitudinal dispersion equation are studied comparatively. In the model studied, the transport equation is decoupled into two component parts by the operator-splitting approach ; one part governing adveciton and the other dispersion. The advection equation has been solved using the method of characteristics following fluid particles along the characteristic line and the results are interpolated onto an Eulerian grid on which the dispersion equation is solved by Crank-Nicholson type finite difference method. In solving the advection equation, various interpolation schemes are tested. Among those, Hermite interpolation polynomials are superior to Lagrange interpolation polynomials in reducing dissipation and dispersion errors in the simulation.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.59 no.2
• /
• pp.232-241
• /
• 2010

This paper describes the development of robust contingency analysis program for Korean Energy Management System. The important function of contingency analysis is to determine the bus/branch model for contingency, and to calculate the state of the power network based on the network model and topology output. In the proposed method, the bus/branch models for contingencies are determined exactly using a fast linked-list method based on the application common model database. To calculate the state of the power system included contingency, the full-decoupled powerflow approach, the partial powerflow method for contingencies and the proposed contingency screening algorithm are also used to contingency analysis. To verify the performance of the developed processor, we performed a file-based test using several structured input data and online test using the database which resides on memory. The results of these comprehensive tests showed that the developed processors can accurately calculate the power system contingency state from online data and can be applied to Korea Power Exchange system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.3
• /
• pp.275-284
• /
• 2012

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

• Journal of the Korean Society for Precision Engineering
• /
• v.32 no.11
• /
• pp.937-944
• /
• 2015

Recently, the change of mechanical properties and microstructural evolution during severe plastic deformation (SPD), such as Equal Channel Angular Extrusion (ECAE), has been the subject of intensive investigation because of the unique physical and mechanical properties of severely deformed materials. In this study, two types of ECAE processes were considered, dies with intersection angles ${\Phi}$ of $90^{\circ}$ and $120^{\circ}$, using experiments and simulations. The decoupled method, in which the rigid-plastic finite element method is incorporated with the rate-independent crystal plasticity model, was applied to predict the texture evolution in commercially pure aluminum during the ECAE processes with $120^{\circ}$ and $90^{\circ}$ dies. The simulated textures were compared with a measured texture via an EBSD OIM analysis. The comparison showed that the simulated textures generally were in good agreement with the experimentally measured texture.

• Journal of the Korean Society for Precision Engineering
• /
• v.10 no.3
• /
• pp.198-204
• /
• 1993

The study is concerned with finite element analysis and design of axisymmetric deep drawing by local heating. When the bottom shape of a cup is not flat but in complex-shaped, i.e., hemispherical, the cup cannot be drawn in one or two processes in the conventional deep drawing process and the limit drawing ratio is limited as well. By introducing local heating selectively with regards to the heating position, the formability of the sheet metal can be greatly increased with the reduced number of processes. In the Process analysisthe rigid- viscoplastic finite element method is employed and the temperature effect is incorporated. Bishop's step-wise decoupled method is employed to analyze the thermomechanical interaction between deformation and heat transfer. Axisymmetric deep drawing of a hemisphere-bottomed cup has been analyzed for various combinations of heat application in the punch and the die. At the first stage of deep drawing stretch forming is practically carried out by firmly pressing the blankholder with the punch and the die heated at various levels of temperature. Then at the second stage the same cup is drawn for the saame or different combination of temperature. From the computation, it has thus been shown that the fromability of a cup is greatly increased in two-stage deep drawing with increased limet drawing ratio.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.2
• /
• pp.140-150
• /
• 2002

The planar tracked vehicle model used in this investigation consists of two kinematically decoupled subsystems, i.e., the chassis subsystem and the track subsystem. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. In this study, the recursive kinematic and dynamic formulation of the tracked vehicle is used to find the vertical terce and the distance of an arbitrary track moved in the driving direction along the track. These distances and vertical forces obtained are used to get the deformation and sinkage of a terrain. The FEM(Finite Element Method) is adopted to analyze the interaction between tracked vehicle and terrain. The terrain is represented by a system of elements wish specified constitutive relationships and considered as a piecewise linear elastic, plastic and isotropic material. When the tracked vehicle is moving with different speeds on the terrain, the elastic and plastic deformations and the maximum sinkage for the four different types of isotropic soils are simulated.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.12
• /
• pp.101-106
• /
• 2000

As the rotational speed of optical disk drive is increasing nowadays, the reliability to vibration and shock becomes more important. For this, various of rubber vibration isolators are being developed by varying the shape and hardness. But it is difficult for the hardness of common used rubber to be lowered below Duro 30 degrees, and because of the shape complexity of rubber vibration isolator there are difficulties of analysis. Microcellular foamed vibration isolator has various cell densities and cell sizes, so it can vary the stiffness and damping coefficient. In addition, its hardness can be lowered below Duro 30 degrees. Axiomatic Approach is very useful design method for designing new product or new process. Axiomatic Approach's character is scientific and analytical method. In this paper, developing process of microcellular foamed vibration isolator for DVD is presented with Axiomatic Approach.

• Proceedings of the KIEE Conference
• /
• 2003.04a
• /
• pp.248-252
• /
• 2003

This paper has a control method proposed for the effective self-tuning fuzzy speed control based on neural network of the induction motor indirect vector control. The vector control of an induction motor provides the decoupled control of the rotor flux magnitude and the torque producing current to performance is desirable. But, the drive performance often degrades for the machine parameter variations and its condition give rise to coupling of flux and torque current. The fuzzy speed control of an induction motor has the robustness about machine parameter variations compared with conventional PID speed control in a way. That proved to be some waf from the true. The purpose of this paper is to improve the adaptation by offering self-turning function to fuzzy speed controller. In this paper, the adaptive mechanism of fuzzy speed control in used ANN(Artificial Neural Network) technique is applied in an IFO induction machine drive, such that the machine can follow a reference model (an ideal field oriented machine) to achieve desired speed. In this paper proved the self-turning method of fuzzy controller has the robustness about parameter variation and the wide range of adaptation by simulation.