• Transactions of the Korean Society of Mechanical Engineers B
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• v.20 no.1
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• pp.284-294
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• 1996

In this paper, dynamic characteristics of an AT clutch system were investigated considering the dynamics of check ball and hydraulic control valves. Dynamic model of a pressure control solenoid valve (PCSV) was obtained by Bondgraph and permeance method. Also, the clutch piston and check ball dynamics were modeled by considering the effect of centrifugal force of the oil entrapped in the clutch chamber. In order to validate the dynamic models obtained, plunger displacement of PCSV and pressure response of the clutch supply lines were compared with the available experimental data, which were in good accordance with the numerical results. Using the dynamic model of the clutch system, simulations were performed to investigate the effect of the rotational speed on the response of clutch cylinder pressure, clutch piston and check ball displacement, and oil flow rate into the cylinder and flow rate out of the check valve.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.11
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• pp.2066-2072
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• 2010

In this paper, a variable structure dynamic output feedback controller with an transformed sliding surface is designed for the improved robust control of a uncertain system under unmatched system uncertainty, matched input matrix uncertainty, and disturbance satisfying some conditions. This paper is extended from the results of the static output feedback VSS in [9]. To effectively remove the reaching phase problems, an initial condition of the dynamic output is determined. The previous some limitations on the dynamic output feedback variable structure controller is overcome in this systematic design. A stabilizing control is designed to generate the sliding mode on the predetermined sliding surface S=0 and as a results the closed loop exponential stability is obtained and proved together with the existence condition of the sliding mode on S=0 for all unmatched system matrix uncertainties. To show the usefulness of the algorithm, a design example and computer simulations are presented.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.54 no.2
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• pp.181-187
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• 2018

In order for the probe to perform ocean exploration and survey research, it is necessary to adjust the position of the ship as desired by dynamic positioning system. The dynamic positioning system of T/S NARA is applied to K-POS dynamic positioning system of Kongsberg, which makes maintaining the ship's position, changing position and heading control possible. T/S NARA is not capable of dynamic positioning if one or more propulsive forces are lost with DP Level One. However, it is predicted that dynamic positioning can be achieved even at the time of missing one thrust in a good sea condition. Therefore, we want to analyze the effect of each propulsion on the performance of dynamic position system. When one of the bow thruster and azimuth thrusters lost their propulsion, maintaining the ship's position, changing position and heading control performance were compared and analyzed. If the situation occurred disable from using the bow thruster, they can not maintain ship's position. Azimuth thruster was influential for the ship's position control and bow thruster was influential in heading control. The excellent dynamic positioning performance can be achieved, considering the propulsion power that will have a impact on each situation in the future.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1293-1296
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• 1997

We investigate a design methodology for master arm which is employed in remote-site control. Though counter-balancing has been employed for the purpose of lessening the actuator loads, it results in the increase of dynamic load at the task position. Therefore, there exist a trade-off between counter-balacing and dynamic performance. The concept of a composite index is introduced to simulataneously consider those two effects in the design of master arms. Several alternative designs of master arms are suggested.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.600-605
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• 2001

This paper deals with dynamic performance of the Cheju - Haenam HVDC system. The purpose of the study is to verify the control characteristics of the HVDC system and to analyze the dynamic performances by simulation study. Because the HVDC system consists of analogue and digital controller, the simulation is achieved with specification model incorporating nonlinear function. The dynamic performance simulations are performed by PSCAD/EMTDC

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.26.4-26
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• 2001

This paper proposes a dynamic observer that is applicable to linear time-invariant systems subject to unknown inputs. The proposed method utilizes the output feedback control structure to design an unknown input observer. We name it as the dynamic unknown input observer(UIO). The dynamic UIO can be designed easily compared to the usual static UIO, and the system response could be improved.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.39.2-39
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• 2001

This paper describes the design of an output-feedback controller based on an adaptive fuzzy observer for uncertain single-input single-output nonlinear dynamical systems. Especially, we have focused on the realization of minimal dynamic order of the adaptive fuzzy observer. For the purpose, we propose a new method in which no strictly positive real(SPR) condition is needed and combine dynamic rule activation scheme with on-line estimation of fuzzy parameters. By using proposed scheme, we can reduce computation time, storage space, and dynamic order of the adaptive fuzzy observer ...

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.18-23
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• 1990

In this paper, the dynamic modeling and a tip-position controller of a single-link flexible manipulator are developed. To design the controller of a flexible manipulator, at first, it is required to obtain the accurate dynamic model of manipulator describing both rigid motion and flexible vibration. For this purpose, FEM(Finite Element Method) and Lagrange approach are utilized to obtain the dynamic model. After obtaining the dynamic model of a single-link manipulator, a controller which computes the input torque to perform the desired trajectory is developed using neural network.

• Journal of the Korean Statistical Society
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• v.9 no.1
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• pp.39-60
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• 1980

In the last paper, we have discussed the cannonical representatin of a dynamic linear model, on which some aggregation schemes were devised. The relationships of those aggregation schemes with dynamic properties were investigated. This paper tries to analyse she control strategy for the aggregated linear dynamic model and to investigate the dynamic properties of disaggregative model controlled by aggregated model. For the logical consistency with the last paper, all the sections and all the equations are numbered in a sequence.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1816-1819
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• 1997

Using the vision system, robotic tasks in unstructured environments can be accompished, which reduces greatly the cost and steup time for the robotic system to fit to he well-defined and structured working environments. This paper proposes a dynamic control scheme for robot manipulator with eye-in-hand camera configuration. To perfom the tasks defined in the image plane, the camera motion Jacobian (image Jacobian) matrix is used to transform the camera motion to the objection position change. In addition, the dynamic learning controller is designed to improve the tracking performance of robotic system. the proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc.