• 해양환경안전학회:학술대회논문집
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• 해양환경안전학회 2003년도 추계학술발표회
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• pp.53-57
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• 2003

이 연구의 최종 목적은 PC를 이용하여 저가이면서 작동이 용이한 가상현실기반 선박조종 시뮬레이터를 개발하는데 있다. 이 논문에서는 가상 항해공간에 구축한 3차원 선박 객체를 선박조종계수로 제어하는 절차와 방법을 기술했다. 가상 항해세계 창출, 선박조종의 수학적 배경, 시스템 구성 둥에 대해서도 검토하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 A
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• pp.226-228
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• 2002

This paper presents a new control approach for designing a coordinated controller for static VAR compensator system. A SVC constructed by a Fixed Capacitor and a Thyristor Controlled Reactor is designed and implemented to improve the damping of a synchronous generator, as well as controlling the system voltage. A design of linear quadratic controller based on optimal controller depends on choosing weighting matrices. A coordinated optimal controller is achieved by minimizing a quadratic performance index using dynamic programming techniques. The selection of weighting matrices is usually carried out by trial and error which is not a trivial problem. We proposed a efficient method using GA of finding weighting matrices for optimal control law. Thus, we prove the usefulness of proposed method to improve the stability of single machine-infinite bus with SVC system.

• 한국소음진동공학회논문집
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• 제16권3호
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• pp.283-290
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• 2006

이 연구는 알고 있는 단일 주기를 갖는 정적 및 주기적 외란의 제거에 대해서 다룬다. 자기력 부상시스템에서 외란력을 능동적으로 제거하기 위해서는 제어 입력이 두 가지 다른 이득 값을 가져야 한다. 하나는 시스템의 안정적 제어를 위한 부분이고 다른 하나는 외부로부터 시스템에 영향을 미치는 외란력의 제거를 위한 부분이다. 본 논문에서는 평형 빔을 안정 적으로 제어하기 위해서 간단한 상태 궤환 제어기를 채용하며, 외부로부터 시스템에 영향을 미치는 외란 성분을 추정하기 위해서 선형 관측기를 채용한다. 또한 자속의 궤환에 의해서 구성된 제어 전류는 관측기에 의해서 관측된 외란력과 외란력을 억제하려는 전자석의 힘의 차로 나타나며 이들 관계는 선형성을 유지한다. 이 선형성은 본질적으로 비선형성을 갖고 있는 자기력 부상 시스템에 대한 수치 해석적 용이함을 제공하며 이 논문에서 다루는 정적 및 주기외란의 제거를 위해서 우수한 성능을 발휘한다. 모의시험 결과는 제안된 제어 기법에 의한 정적 및 주기적 외란의 제거를 입증한다.

• 한국소음진동공학회논문집
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• 제17권1호
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• pp.72-79
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• 2007

정밀 장비 운전시 지반진동 절연을 목적으로 널리 사용되는 공압제진대는 정밀 장비에서 요구하는 지반진동 규제의 강화에 따라 보다 개선된 절연성능을 요구받는다. 수동형 공압제진대의 경우, 제진대의 설계 변수들을 이용하여 그 성능을 개선하고 있으나, 제진대의 고유진동수 및 그 부근에서의 절연 성능 향상에는 한계가 있다. 이 연구에서는 진폭 의존성 등의 비선형성을 가지는 공압제진대에 대하여 비선형 강인성 능동제어이론인 시간지연 제어 기법을 적용하여 고유진동수 및 그 부근에서의 절연성능을 향상시키고자 한다. 공압제진대에 시간지연 제어기법을 적용하는 과정 및 능동제어 이론 적용에 따른 절연 성능 향상에 대한 모사실험 결과를 기술하고자 하며, 실험을 통하여 그 유효성 보이고자 한다.

• Journal of Power Electronics
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• 제13권1호
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• pp.139-160
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• 2013

In this paper, an intelligent robust control system (IRCS) for precision tracking control of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The IRCS comprises a recurrent wavelet-based interval type-2 fuzzy-neural-network controller (RWIT2FNNC), an RWIT2FNN estimator (RWIT2FNNE) and a compensated controller. The RWIT2FNNC combines the merits of a self-constructing interval type-2 fuzzy logic system, a recurrent neural network and a wavelet neural network. Moreover, it performs the structure and parameter-learning concurrently. The RWIT2FNNC is used as the main tracking controller to mimic the ideal control law (ICL) while the RWIT2FNNE is developed to approximate an unknown dynamic function including the lumped parameter uncertainty. Furthermore, the compensated controller is designed to achieve $L_2$ tracking performance with a desired attenuation level and to deal with uncertainties including approximation errors, optimal parameter vectors and higher order terms in the Taylor series. Moreover, the adaptive learning algorithms for the compensated controller and the RWIT2FNNE are derived by using the Lyapunov stability theorem to train the parameters of the RWIT2FNNE online. A computer simulation and an experimental system are developed to validate the effectiveness of the proposed IRCS. All of the control algorithms are implemented on a TMS320C31 DSP-based control computer. The simulation and experimental results confirm that the IRCS grants robust performance and precise response regardless of load disturbances and PMSM parameters uncertainties.

• 대한조선학회논문집
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• 제46권5호
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• pp.527-535
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• 2009

This paper describes the control system to suppress the load pendulation using tagline for the floating crane. Dynamic equation of motion of the floating crane and the load is derived using Newton's 2nd law and free body model. The floating crane and the load are assumed that they move in center plane. Each rigid body has 3 DOF (surge, heave, pitch), because it moves in two directions and rotates. Then, this system, which is composed of two rigid bodies, has 6 DOF. The gravitational force, the hydrostatic force, the hydrodynamic force and the tension of the wire rope are considered as external forces, which affect to the floating crane. To suppress the pendulation of the load, the tagline, which connects between the load and the float crane, is applied to the system. The tagline is composed of the spring and the wire rope. Proportional and Derivative control is used as a linear control algorithm. The results of the numerical analysis of the 3,600 ton floating crane show that the tagline system is effective to suppress the load pendulation.

• Journal of Power Electronics
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• 제17권4호
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• pp.1048-1057
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• 2017

An indirect matrix converter (IMC) is a modern power generation system that enables a direct ac/ac conversion without the need for any bulky and limited lifetime electrolytic capacitor. This system also allows four-quadrant operation, generation of sinusoidal output voltage waveforms with variable frequency and amplitude, and control of input power factor. This study proposes a pulse-width modulation-based sliding-mode controller to achieve unity input-power factor operation of the IMC independently of the active power exchanged with the grid, as well as a fast dynamic response. The designed equivalent control law determines, at each sampling period, the appropriate q-axis component of the modulated input current to be injected into the grid through the LC input filter. An integral term of the error is included in the expression of the sliding surface to increase the accuracy of the control method. A double space vector modulation method is used to synthesize the direction of the space vector of the input currents as required by the sliding-mode controller and the space vectors of the target output voltages. Simulation and experimental results are provided to show the effectiveness and evaluate the performance of the proposed control method.

• Geomechanics and Engineering
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• 제37권3호
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• pp.293-306
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• 2024

Influenced by the alternating effects of dynamic and static pressure during the mining process of close range coal seams, the surrounding rock support of cross mining roadway is difficult and the deformation mechanism is complex, which has become an important problem affecting the safe and efficient production of coal mines. The paper takes the inclined longwall mining of the 10304 working face of Zhongheng coal mine as the engineering background, analyzes the key strata fracture mechanism of the large inclined right-angle trapezoidal mining field, explores the stress distribution characteristics and transmission law of the surrounding rock of the roadway affected by the mining of the inclined coal seam, and proposes a segmented and hierarchical support method for the cross mining roadway affected by the mining of the close range coal seam group. The research results indicate that based on the derived expressions for shear and tensile fracture of key strata, the ultimate pushing distance and ultimate suspended area of a right angle trapezoidal mining area can be calculated and obtained. Within the cross mining section, along the horizontal direction of the coal wall of the working face, the peak shear stress is located near the middle of the boundary. The cracks on the floor of the cross mining roadway gradually develop in an elliptical funnel shape from the shallow to the deep. The dual coupling support system composed of active anchor rod support and passive U-shaped steel shed support proposed in this article achieves effective control of the stability of cross mining roadways, which achieves effective control of floor by coupling active support and preventive passive support to improve the strength of the surrounding rock itself. The research results are of great significance for guiding the layout, support control, and safe mining of cross mining roadways, and to some extent, can further enrich and improve the relevant theories of roof movement and control.

• 항공우주시스템공학회지
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• 제15권5호
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• pp.8-15
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• 2021

본 논문은 고기동 제트항공기의 종축 비행성 요구도를 만족하기 위해 최적화 기법을 이용한 설계 방법에 관해 기술한다. 대상 항공기는 모델 역변환 기법이 적용되었으며, 제어이득 최적화로 종축 단주기 비행성 요구도를 만족하지만, 안정성 여유 항목이 고려되지 않았다. 안정성 여유를 만족하지 못하는 경우 개선을 위해 시행 착오법 등을 통한 이득의 직접 재조정이 필요하며, 이를 개선하기 위해 추가적인 보상기와 최적화 구속조건을 추가한 제어이득 최적화 방안을 제시하였다. 또한, 최적화 결과에 대한 비행성 만족도를 재평가하였으며, 최적화 구속조건으로 설정된 비행성 요구도가 반영하지 못하는 시간 반응의 수렴성과 정상상태 오차에 대한 추가적인 제어법칙 평가 기준 설정 및 그 결과에 관해 기술한다.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2015년도 제49회 하계 정기학술대회 초록집
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• pp.63.2-63.2
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• 2015

Controlling and sensing spin states of magnetic molecules such as metallo-porphyrins at the single molecule level is essential for spintronic molecular device applications. Axial coordinations of diatomic molecules to metallo-porphyrins also play key roles in dynamic processes of biological functions such as blood pressure control and immune response. However, probing such reactions at the single molecule level to understand their physical mechanisms has been rarely performed. Here we present on our single molecule association and dissociation experiments between diatomic and metallo-porphyrin molecules on Au(111) describing its adsorption structures, spin states, and dissociation mechanisms. We observed bright ring shapes in NO adsorbed metallo-porphyrin compelxes and explained them by considering tilted binding and precession motion of NO. Before NO exposure, Co-porphryin showed a clear zero-bias peak in scanning tunneling spectroscopy, a signature of Kondo effect in STS, whereas after NO exposures it formed a molecular complex, NO-Co-porphyrin, that did not show any zero-bias feature implying that the Kondo effect was switched off by binding of NO. Under tunneling junctions of scanning tunneling microscope, both positive and negative energy pulses. From the observed power law relations between dissociation rate and tunneling current, we argue that the dissociations were inelastically induced with molecular orbital resonances. Our study shows that single molecule association and dissociation can be used to probe spin states and reaction mechanisms in a variety of axial coordination between small molecules and metallo-porphyrins.