• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.572-583
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• 2019

This paper aims to assess the applicability of the Runge Kutta Discontinuous Galerkin-Direct Ghost Fluid Method to the internal explosion inside a water-filled tube, which previously was studied by many researchers in separate works. Once the explosive charge located at the inner center of the water-filled tube explodes, the tube wall is subjected to an extremely high intensity fluid loading and deformed. The deformation causes a modification of the field of fluid flow in the region near the water-structure interface so that has substantial influence on the response of the structure. To connect the structure and the fluid, valid data exchanges along the interface are essential. Classical fluid structure interaction simulations usually employ a matched meshing scheme which discretizes the fluid and structure domains using a single mesh density. The computational cost of fluid structure interaction simulations is usually governed by the structure because the size of time step may be determined by the density of structure mesh. The finer mesh density, the better solution, but more expensive computational cost. To reduce such computational cost, a non-matched meshing scheme which allows for different mesh densities is employed. The coupled numerical approach of this paper has fewer difficulties in the implementation and computation, compared to gas dynamics based approach which requires complicated analytical manipulations. It can also be applied to wider compressible, inviscid fluid flow analyses often found in underwater explosion events.

• Journal of Electrical Engineering and Technology
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• v.12 no.3
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• pp.1271-1279
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• 2017

A highly accurate model-free controller is proposed for trajectory tracking control of robot manipulators. The proposed controller incorporates time-delay estimation (TDE) to estimate and cancel continuous nonlinearities of robot dynamics, and exploits fuzzy logic systems to suppress the effect of the TDE error, which is due to discontinuous nonlinearities such as friction. To this end, integral sliding mode is defined using desired error dynamics, and a Mamdani-type fuzzy inference system is constructed. As a result, the proposed controller achieves the desired error dynamics well. Implementation of the proposed controller is easy because the design of the controller is intuitive and straightforward, and calculations of the complex robot dynamics are not required. The tracking performance of the proposed controller is verified experimentally using a 3-degree of freedom PUMA-type robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.103.1-103
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• 2002

In variable structure control algorithms, The control law used to realized the desired sliding mode dynamics is discontinuous on the switching manifold. However, due to imperfections in switching, such as time delays, the system trajectory chatters instead of sliding along the switching manifold. This chattering is undesirable because it may excite unmodeled high frequency dynamics in the physical system. In this paper, to overcome this drawback a self-organizing fuzzy sliding mode control algorithm using gradient descent method is proposed. The proposed method has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of disturbance, parameter variations and uncertainties ill the sliding mode. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum system. The results show that both alleviation of chattering and performance are achieved.

• Journal of Electrical Engineering and information Science
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• v.2 no.6
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• pp.82-89
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• 1997

In this paper, an adaptive speed controller with an FNN(Feedforward Neural Network) is proposed for servo motor drives. Generally, the motor system has nonlinearities in friction, load disturbance and magnetic saturation. It is necessary to treat the nonlinearities for improving performance in servo control. The FNN can be applied to control and identify a nonlinear dynamical system by learning capability. In this study, at first, a robust speed controller is developed by Lyapunov stability theory. However, the control input has discontinuity which generates an inherent chattering. To solve the problem and to improve the performances, the FNN is introduced to convert the discontinuous input to continuous one in error boundary. The FNN is applied to identify the inverse dynamics of the motor and to control the motor using coordination of feedforward control combined with inverse motor dynamics identification. The proposed controller is developed for an SR motor which has highly nonlinear characteristics and it is compared with an MRAC(Model Reference Adaptive Controller). Experiments on an SR motor illustrate te validity of the proposed controller.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.3
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• pp.214-218
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• 1997

We propose a VSC(Variable Structure Controller) with a PI-type reaching law. In General, conventional VSCs with a reaching law including a discontinuous term have the chattering problem, and thus the system may be unstable due to the disregarded high frequency dynamics in the modeling process. To resolve this problem, the PI-type reaching law is proposed in this paper. The proposed reaching law makes it easy to determine the reaching dynamics as well as the reaching time by utilizing the 2nd-order system analysis. Furthermore, since the discontinous term is not involved in the reaching law, the chattering is considerably reduced. To show the effectiveness of the proposed scheme, the stability of the proposed system is proved by Lyapunov method and the computer simulations are performed for the Ball Balance System.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.608-610
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• 2004

In continuous annealing line (CAL), POSCO, the center position control (CPC) is an essential technique that renders the steel-strip to pass at the center of a roll in order to prevent the strip from skewing or breaking. The CPC algorithm currently installed on the steering roll in the heating section of CAL is to control the strip position by using the reverse phase of error from the center position, without considering the dynamics of strip horizontal movement. Such algorithm may, unfortunately, require a manual operation occasionally when the range of strip input becomes wide, causing the dynamics 0 be dominant. Other PID-type control is rarely used in automatic operation because the excess of response may occur when the discontinuous points such as welding joints pass through rolls. In this paper, we identify the CPC system by using off-line data and design a compensator for the excessive dynamics by using the adaptive inverse control. Simulation result depicts the improved reliability of the proposed CPC system.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.2
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• pp.159-165
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• 2015

Motion control schemes are generally classified into three categories (point stabilization, trajectory tracking, and path following). This paper deals with the problem which is associated with the initial deployment of a group of Unmanned Surface Vehicle (USVs) and corresponding point stabilization. To keep the formation of a group of USVs, it is necessary to set the relationship between each vehicle. A forcing functions such as potential fields are designed to keep the formation and a graph Laplacian is used to represent the connectivity between vehicle. In case of fixed topology of the graph representing the communication between the vehicles, the graph Laplacian is assumed constant. However the graph topologies are allowed to change as the vehicles move, and the system dynamics become discontinuous in nature because the graph Laplacian changes as time passes. To check the stability in the stage of deployment, the system is modeled with Kronecker algebra notation. Filippov's calculus of differential equations with discontinuous right hand sides is then used to formally characterize the behavior of USVs. The stability of the system is analyzed with Lyapunov's stability theory and LaSalle's invariance principle, and the validity is shown by checking the variation of state norm.

• Advances in aircraft and spacecraft science
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• v.3 no.2
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• pp.149-170
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• 2016

Multi-Disciplinary Optimization (MDO) is widely used to handle the advanced design in several engineering applications. Such applications are commonly simulation-based, in order to capture the physics of the phenomena under study. This framework demands fast optimization algorithms as well as trustworthy numerical analyses, and a synergic integration between the two is required to obtain an efficient design process. In order to meet these needs, an adaptive Computational Fluid Dynamics (CFD) solver and a fast optimization algorithm have been developed and combined by the authors. The CFD solver is based on a high-order discontinuous Galerkin discretization while the optimization algorithm is a high-performance version of the Artificial Bee Colony method. In this work, they are used to address a typical aero-mechanical problem encountered in turbomachinery design. Interesting achievements in the considered test case are illustrated, highlighting the potential applicability of the proposed approach to other engineering problems.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.5
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• pp.1383-1393
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• 2014

Recently, with rapid improvement in computer hardware and theoretical development in the field of computational fluid dynamics, high-order accurate schemes also have been applied in the realm of computational hydraulics. In this study, numerical solutions of 1D shallow water equations are presented with TVD Runge-Kutta discontinuous Galerkin (RKDG) finite element method. The transcritical flows such as dam-break flows due to instant dam failure and transcritical flow with bottom elevation change were studied. As a formulation of approximate Riemann solver, the local Lax-Friedrichs (LLF), Roe, HLL flux schemes were employed and MUSCL slope limiter was used to eliminate unnecessary numerical oscillations. The developed model was applied to 1D dam break and transcritical flow. The results were compared to the exact solutions and experimental data.

• Bulletin of the Korean Chemical Society
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• v.33 no.3
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• pp.975-979
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• 2012

Structure and Dynamics of dilute two-dimensional (2D) ring polymer solutions are investigated by using discontinuous molecular dynamics simulations. A ring polymer and solvent molecules are modeled as a tangent-hard disc chain and hard discs, respectively. Some of solvent molecules are confined inside the 2D ring polymer unlike in 2D linear polymer solutions or three-dimensional polymer solutions. The structure and the dynamics of the 2D ring polymers change significantly with the number ($N_{in}$) of such solvent molecules inside the 2D ring polymers. The mean-squared radius of gyration ($R^2$) increases with $N_{in}$ and scales as $R{\sim}N^{\nu}$ with the scaling exponent $\nu$ that depends on $N_{in}$. When $N_{in}$ is large enough, ${\nu}{\approx}1$, which is consistent with experiments. Meanwhile, for a small $N_{in}{\approx}0.66$ and the 2D ring polymers show unexpected structure. The diffusion coefficient (D) and the rotational relaxation time ($\tau_{rot}$) are also sensitive to $N_{in}$: D decreases and $\tau$ increases sharply with $N_{in}$. D of 2D ring polymers shows a strong size-dependency, i.e., D ~ ln(L), where L is the simulation cell dimension. But the rotational diffusion and its relaxation time ($\tau_{rot}$) are not-size dependent. More interestingly, the scaling behavior of $\tau_{rot}$ also changes with $N_{in}$; for a large $N_{in}$ $\tau_{rot}{\sim}N^{2.46}$ but for a small $N_{in}$ $\tau_{rot}{\sim}N^{1.43}$.