• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.8 s.179
• /
• pp.1899-1909
• /
• 2000

This paper proposes a new $H_{\infty}$ yaw moment control scheme using brake torque switching for improving vehicle performance and stability especially in high speed driving. In the scheme, one wheel is selected, depending on the vehicle states, at which a brake torque for control is applied. Steering angles are modeled as a disturbance to the system and the $H_{\infty}$ controller is designed to minimize the difference between the performance of the vehicle and that of the desired model. Its performance robustness as well as stability robustness to system parameter variations is assured through ${\mu}$-analysis. Various simulations with a nonlinear 8-DOF vehicle model show that proposed controller enhances the vehicle performance and stability under disturbances and parameter variations as well as under the normal driving condition.

• International Journal of Control, Automation, and Systems
• /
• v.1 no.4
• /
• pp.474-483
• /
• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.1
• /
• pp.6-11
• /
• 2014

Repetitive control is a specialized control scheme to track and/or attenuate a periodic reference trajectory and/or disturbance. Most researches about repetitive control have been performed in the frequency domain. Recently, several approaches to deal with repetitive control systems in the state space are developed by representing a q filter as a state-space equation. This paper presents a design method of a repetitive control system in the state space to satisfy $H_{\infty}$ performance. The overall system is composed of a plant, a repetitive controller, and a state-feedback controller, which can be converted to a standard form used in $H_{\infty}$ control. A LMI (Linear Matrix Inequality)-based stability condition is derived for fixed state-feedback gains. Under a given q filter, another LMI condition is derived to improve $H_{\infty}$ performance and is employed to find state-feedback gains by solving an optimization problem. Finally, to verify the feasibility of the proposed method, a numerical example is demonstrated.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
• /
• v.2 no.3
• /
• pp.243-255
• /
• 1990

The objective of this study is to present an efficient measurement method of the effective thermal diffusivity for the fibrous insulation material. The non-linear parameter estimation (NPE) method is adapted for this analysis because of its accuracy and its results are compared with those by other direct methods such as CTP, CHP and STD method. A experimental system is constructed with bell-jar vaccum chamber, diffusion pump, tube type furnace, control unit and data acquisition system included with A/D converter and IBM XT/AT personal computer. The typical results obtained from this study are as follows; 1) NPE method can be recommended as an useful and accurate method to measure the effective thermal diffusivity of insuation material because it is shown that the measurement error compared with those by other direct methods is reduced for standard material, NBS-1450b. 2) NPE method can minimize the effects of ill-measured temperature due to external disturbance, because the final value is found by point to point estimating. 3) NPE method dose not depend on the kinds of heat flux, since the surfac temperature are used to estimate the thermal diffusivity. 4) With NPE method, compared with the steady state method, a measuring time and a sample size could be reduced.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.58 no.12
• /
• pp.2335-2341
• /
• 2009

High technique growth of modem times and high industrial facility in consequence of buildings demand for electric power of an extensive scale with stability supply and maintenance of high quality. But, power system always have risk of network contingency. When power system break out disturbance, it circumstantially happen like uncontrolled loss of load developing from of cascading. Severely which would be raised wide area blackout, plan to prevent, which make stability through a little of load shedding and multi-level UnderVoltageLoadShdding should work. This paper presents target, sensitivity of bus voltage have choose appropriating load shedding location and load shedding decision making logic with considering rate of change of voltage have studied multi-level under voltage load shedding scheme. Calculation of rate of change of voltage applied method of least square. As a result, we are studied an dynamic analysis of 2008 summer peak data. We have been known that network analysis is a little development and developing UnderVoltageLoadShedding scheme.

• Journal of Mechanical Science and Technology
• /
• v.18 no.1
• /
• pp.45-54
• /
• 2004

In order to meet the requirement for higher thickness accuracy in cold rolling processes, it is strongly desired to have high performance in control units. To meet this requirement, we have considered an output regulating control system with a roll-eccentricity estimator for each rolling stand of tandem cold mills. Considering entry thickness variation as well as roll eccentricity as the major disturbances, a synthesis of multivariable control systems is presented based on H$\sub$$\infty$/ control theory, which can reflect the knowledge of input direction and spectrum of disturbance signals on the design. Then, to reject roll eccentricity effectively, a weight function having some poles on the imaginary axis is introduced. This leads to a non-standard H_ control problem, and the design procedures for solving this problem are analytically presented. The effectiveness of the proposed control method is evaluated through computer simulations and compared to that of the conventional LQ control and feedforward control methods for roll eccentricity.

• Journal of Korean Neurosurgical Society
• /
• v.46 no.2
• /
• pp.161-164
• /
• 2009

Plasma cell granuloma is a tumor-like disease characterized by non-neoplastic polyclonal proliferation of plasma cells and other mononuclear cells. This disease occurs most frequently in the lung and upper respiratory tract, while the involvement of the central nervous system is very rare. A 44-year-old female patient presented with nausea and progressive visual disturbance. Brain magnetic resonance imaging (MRI) revealed the mass along the right tentorium with low signal intensity in the T2 weighted image (T2WI) and fluid-attenuated inversion recovery (FLAIR) sequence, and an isosignal intensity in T1 weighted image (T1WI), the latter of which was enhanced after administration of gadolinium-diethylenetriamine penta-acetic acid (Gd-DTPA). The thickest portion of the tentorium was partially excised via the combined suboccipital and infratentorial approach. The histopathological examination indicated a diagnosis of plasma cell granuloma. Postoperative steroid therapy was administered for remnant tumor control. Although a follow up MRI scan taken 20 months after the operation showed a slight decrease in tumor size, the lesion had extended to the falx and left frontal convexity along with parenchymal edema at 32 months after the operation and the clinical status was aggravated. The mass was removed from the left frontal convexity. Radiation therapy was given, together with steroid administration.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.4 no.2
• /
• pp.187-192
• /
• 2004

In this paper, we proposed the method to design fuzzy controller using the experience of the operating expert and experimental numeric data for the robust control about the noise and disturbance instead of the traditional PID controller for the main steam temperature control of the thermal power plant. The temperature of main steam temperature process has to be controlled uniformly for the stable electric power output. The process has the problem of the hunting for the cases of various disturbances. In that case, the manual action of the operator happened to be introduced in some cases. We adopted the TSK (Takagi-Sugeno-Kang) model as the fuzzy controller and designed the fuzzy rules using the informations extracted directly from the real plant and various operating condition to solve the above problems and to apply practically. We implemented the real fuzzy controller as the Function Block module in the DCS(Distributed Control System) and evaluated the feasibility through the experimental results of the simulation.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.4
• /
• pp.107-113
• /
• 2009

In this paper, we studied of measurement the vibration of natural frequency using optical fiber sensor. The boring bar for measurement of vibration in use optical fiber sensor has the advantage of direct measure for the frequency than accelerometer. Because it deal with output value on electrical signal of optical fiber in physical disturbance when it measures the frequency of vibration. The optical fiber sensor measured the vibration of boring bar by the gap in sensing jig while optical fiber just kept contact with boring bar. A prototype system was composed of jig part with gap and optical system part. In this paper, we found out the possibility to measurement of vibration by the gap in use optical fiber.

• Journal of the Korean Statistical Society
• /
• v.33 no.4
• /
• pp.381-399
• /
• 2004

Statistical process control (SPC) and engineering process control (EPC) are based on different strategies for process quality improvement. SPC re-duces process variability by detecting and eliminating special causes of process variation, while EPC reduces process variability by adjusting compensatory variables to keep the quality variable close to target. Recently there has been need for an integrated process control (IPC) procedure which combines the two strategies. This paper considers a scheme that simultaneously applies SPC and EPC techniques to reduce the variation of a process. The process model under consideration is an IMA(1,1) model with a step shift. The EPC part of the scheme adjusts the process, while the SPC part of the scheme detects the occurrence of a special cause. For adjusting the process repeated adjustment is applied according to the predicted deviation from target. For detecting special causes the exponentially weighted moving average control chart is applied to the observed deviations. It was assumed that the adjustment under the presence of a special cause may increase the process variability or change the system gain. Reasonable choices of parameters for the IPC procedure are considered in the context of the mean squared deviation as well as the average run length.