• 지질공학
• /
• 제21권3호
• /
• pp.247-257
• /
• 2011

본 연구는 사면재해 취약성 평가를 위해 사면모델 중 하나인 무한사면 해석모델을 적용하였다. 그러나 무한사면 해석모델은 광역적인 연구지역에 적용하는데 있어서 데이터획득 및 처리과정에 어려움이 있고 데이터 획득과정에서 불가피하게 불확실성이 개입되는 문제가 있다. 이러한 불확실성을 최소화하기 위해 확률론적 해석기법인 몬테카를로 시뮬레이션을 적용하였으며, 광역적인 연구지역에 무한사면 해석모델을 적용하기 위하여 GIS를 활용한 무한사면 안정해석법으로 파괴확률을 획득하였다. 연구지역으로는 사면재해가 집중적으로 발생한 보은지역을 선정하였고 사면의 기하학적인 특성과 점착력 및 내부마찰각 등의 강도정수를 획득하였다. 또한 불확실성의 효과를 평가하기 위해 강도정수의 변동계수를 10%에서 30%로 고려하였고 이러한 과정을 통하여 확률론적 해석기법은 자료의 불확실성을 감쇠시킬 수 있다는 결과를 도출하였다.

• 한국지반공학회지:지반
• /
• 제3권2호
• /
• pp.17-28
• /
• 1987

본연구에서는 해양토질의 전단강도 산정에 대한 Cone관입시험의 신뇌도를 조사하였다. 사질토에 대하여는 내부마찰각의 불확정성을 조사하였으며, 불확정성에는 자료의 공간적 변화와 해석에 사용 되는 공식의 모텔오차 등이 있고, 그중 해석모텔의 오차가 가장 큰 불확정성이었다. 해석 방법마다 구한 내부마찰각이 서로 다르므로, 해석결과를 종합할 수 있는 주관적 견해개념(subjective opinion) 을 도입하였다. Cone관입시험을 이용하여 잡토지반에서 비배빙전단강도를 산정하기 위해서는 실훈시험이나 현장베인 시험으로 구한 전단강도와 Cone 저항력의 경험적인 관계를 이용하여야 한다. 비배수전단강도의 불확정성은 Cone 계수(Nk)의 자료 산포, Nk의 모델 오차, 이방성과 Cone 저항력의 공간적 변화 등에 기인하며, Nk의 자료산포가 가장 큰 불확정성이었다. Nk값의 산정에 이용되는 비교강도시험은 실내시험보다는 현장베인시험의 신뢰성이 더 큰 것으로 나타났다.

• 한국지반환경공학회 논문집
• /
• 제5권3호
• /
• pp.31-39
• /
• 2004

국내에서는 저소음, 저진동 말뚝공법으로 매입말뚝공법이 매우 활발하게 사용되고 있으나 설계시 마찰지지력을 과소하게 산정하는 경향이 있으며 시멘트풀의 배합비 및 품질관리에 대한 기준이 정립되지 않은 문제점이 있다. 본 연구에서는 시멘트풀에 대해 다양한 조건별로 시험을 실시하여 강도특성을 분석하였다. 시험결과 표준배합비(w/c=83%)의 시멘트풀의 압축강도는 최고 $156.0kgf/cm^2$를 나타내었고 w/c가 낮을수록, 재령이 길수록 압축강도가 커지는 경향을 나타내었고 토사의 혼입률이 높을수록 강도가 감소하여 일정량 이상이 혼입되면 제역할을 하지 못하는 것으로 나타났다. 또한 매입말뚝의 마찰특성을 분석하고 적합한 설계방안을 도출하기 위하여 시멘트풀의 경화 전후에 188회 동재하시험 결과를 분석하였다. 분석결과 극한단위 마찰력은 평균 $9.1kgf/cm^2$을 나타내어 매입말뚝의 통상적인 설계기준을 상회하는 것으로 나타났다.

• 대한조선학회논문집
• /
• 제54권5호
• /
• pp.406-414
• /
• 2017

An experimental study in a recirculating water channel was carried out to investigate the effect of large coherent structures to the skin friction on a flat plate. Particle Image Velocimetry (PIV) technique was used to quantify characteristic features of coherent structures growing to the boundary layer. In the PIV measurement, it is difficult to calculate the friction velocity near the wall region due to laser deflection and uncertainty so that Clauser fitting method at the logarithmic region was adopted to compute the friction velocity and compared with the one directly measured by the dynamometer. With changing the free-stream velocity from 0.5 m/s to 1.0 m/s, the activity of coherent structures in the logarithmic region was increased over three times in terms of Reynolds stress. The flow field was separated by Variable Interval Time Averaging (VITA) technique into the weak and the strong structure case depending on the existence large coherent structures in order to validate its effectiveness. The stream-wise velocity fluctuation was scanned through at the boundary thickness whether it had a large deviation from background flow. With coherent structures connected from near-wall to the boundary layer, mean wall shear stress was higher than that of weak structure case. Proper Orthogonal Decomposition (POD) analysis was also applied to compare the energy budget between them at each free-stream velocity.

• 동력기계공학회지
• /
• 제21권6호
• /
• pp.101-109
• /
• 2017

The pneumatic driving system has advantages such as high output power per weight and low heat generation rate. However, it is difficult to control the position because of its strong non-linearity such as large friction forces compared to driving force, and heat transfer characteristics that change during operation. Therefore, in order to achieve the control objectives, a robust controller should be designed considering modeling error and model uncertainty. In this paper, a sliding mode controller is designed to improve the position control performance of pneumatic cylinder driving system. Experimental results show that the designed controller achieves the designed control objectives even if the model of the cylinder driving system, such as the initial pressure inside the cylinder and the initial position of the piston is changed.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
• /
• pp.1834-1835
• /
• 2006

A robust adaptive position control algorithm is proposed for servomotor drive system with uncertainties and load disturbance. The proposed controller is comprised of a nominal controller and a robust control. The nominal controller is designed in the condition without all the external load disturbance, nonlinear friction and unpredicted uncertainties. The robust controller containing lumped uncertainty approximator using fuzzy-neural network(FNN) is designed to dispel the effect of uncertainties and load disturbance. The interconnection weight of the FNN can be online tuned in the sense of the Lyapunov stability theorem thus asymptotic stability of the proposed control system can be guaranteed. Finally, simulation results verify that the proposed control algorithm can achieve favorable tracking performance for the induction servomotor drive system.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.844-847
• /
• 1996

This paper describes the servo position control for the 2-axis positioning table the servo controller consists of conventional feedback loops, disturbance observer. To reduce the contour error, which occurs in the multi-dimensions machines, cross-coupled controller(CCC) is suggested. A weak point of the CCC is their low effectiveness in dealing with arbitrary nonlinear contour such as circles and parabolas. This paper introduces a new nonlinear CCC that is based on control gains that vary during the contour movement The gains of CCC and adjusted in real time according to the shape of nonlinear contour. The feedback controller based on the disturbance observer compensated for external disturbance, plant uncertainty and bad effectiveness by friction model. Suggested servo controller which improve the contouring accuracy, apply to the 2-axis system. Simulation results on 2-axis table verify the effectiveness of the proposed servo controller.

• 전자공학회논문지S
• /
• 제34S권1호
• /
• pp.54-64
• /
• 1997

In this paper, a method of dynamic modeling and a dynamic control of a mobile robot are presented to show the superiority of the dynamic control comparing to the PD control. This dynamic model is derived from the cartesian coordinates using lagrange equations. Based upon the derived dynamic model, we implemented the dynamic control of the mobile robot using the computed torque method. Time varying non-linear friction terms are not incroporated in this dynamic model. Instead, those are considered as disturbances. This uncertainty in dynamic model of mobile robot is compensated by the outer loop controller using PD algorithm. The validity of this model and the control algorithm are confirmed through the experiments, where the dynamic control algorithm demonstrated robust velocity tracking performance against the unmodeled non-linear frictions. The superiority of this algorithm is demonstrated by comparing to classical PD control algorithm.

• 제어로봇시스템학회논문지
• /
• 제10권4호
• /
• pp.312-316
• /
• 2004

In this paper, it is presented an adaptive robust control system to implement real-time control of a robot manipulator. There are Quantitative or qualitative differences between a real robot manipulator and a robot modeling. In order to compensate these differences, uncertain factors are added to a robot modeling. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. Also, uncertainty is often nonlinear and time-varying. In the proceeding work, we proposed a class of robust control of a robot manipulator and provided the stability analysis. In the work, we propose a class of adaptive robust control of robot manipulator with bound estimation. Through experiments, the proposed adaptive robust control scheme is proved to be an efficient control technique for real-time control of a robot system using DSP.

• 제어로봇시스템학회논문지
• /
• 제18권6호
• /
• pp.519-525
• /
• 2012

Electric brake booster systems replace conventional pneumatic brake boosters with electric motors and rotary-todisplacement mechanisms including ECU (Electronic Control Unit). Electric booster brake systems require precise target pressure tracking and control robustness because vehicle brake systems operate properly given the large range of loading and temperature, actuator saturation, load-dependent friction. Also for the implement of imbedded control system, the controller should be selected considering the limited memory size and the cycle time problem of real brake ECU. In this study, based on these requirements, a sliding mode controller has been chosen and applied considering both model uncertainty and external disturbance. A mathematical model for the electric booster is derived and simulated. The developed sliding mode controller considering chattering problem has been compared with a conventional cascade PID controller. The effectiveness of the controller is demonstrated in some braking cases.