• Transactions of The Korea Fluid Power Systems Society
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• v.5 no.1
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• pp.1-5
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• 2008

Pneumatic driving systems have hard non-linear characteristic and large friction force compared with driving power. Hence, it cannot be robust against parameter uncertainties, modelling error, disturbance and noise. In this study, we apply a mixed $H_2/H_{\infty}$ control to the generalized plant for a pneumatic driving apparatus system including parameter uncertainty and disturbance. In order to design the $H_2/H_{\infty}$ controller, we use the LMI technique. To evaluate control performance and robust stability of the designed controller, we compare it with a conventional controller such as PVA(Position-Velocity-Acceleration state controller) using the simulation results. As a result, it can be known that designed controller shows better robust stability than the conventional controller.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.426-426
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• 2000

When real robot manipulators arc mathematically modeled, uncertainties are not avoidable. The uncertainties are often nonlinear and time varying, The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance and etc. We proposed a class of robust hybrid position/force control of manipulators and provided the stability analysis in the previous work. In the work, we propose a class of adaptive robust hybrid position/force control of manipulators with bound estimation and the stability based on Lyapunov function is presented. Especially, this controller does not need the information of uncertainty bound. The simulation results are provided to show the effectiveness of the algorithm.

• Proceedings of the Korean Geotechical Society Conference
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• 2008.10a
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• pp.126-133
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• 2008

Geotechnical limit state design methods; LRFD of North America is an approach that estimates resistance using design model and then multiplies resistance factor by calculated resistance to reflect the uncertainty of geomaterials and design models; whereas, Eurocode of the Europe employs the partial resistance factor applied directly to each variable in the resistance equation that individual soil properties such as cohesion and angle of internal friction are applied. This discussion paper is a study on characteristic value which has globally been argued through processing of development of Eurocode 7 for geotechnical design even to the present. Estimating the characteristic value of soil properties affects not only determination of design value applied directly to design of geotechnical structures, but also economic feasibility and stability of the structures.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.3
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• pp.154-160
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• 2004

In this paper, a combined field orientation and adaptive backstepping approach using a sliding mode adaptive flux observer, is proposed for the control of induction motor In order to achieve the speed regulation with the consideration of improving power efficiency, rotor angular speed and flux amplitude tracking objectives are formulated. Rotor flux and inverse time constant are estimated by the sliding mode adaptive flux observer based on a fixed stator frame model and mechanical lumped uncertainty such as inertia moment, load torque disturbance, friction compensated by the adaptive backstepping based on a field-oriented model. Simulation results are provided to verify the effectiveness of the proposed approach.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.348-356
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• 2019

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.6
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• pp.511-518
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• 2013

To implement an automatic picking system (APS) in distribution center with high precision and high dynamics, this paper presents a design of a linear induction motor (LIM) drive and robust position controller based on integral variable structure control (IVSC) scheme. The force disturbance as well as the mechanical parameter variation such as the mass and friction coefficient gives a direct influence on the position control performance of APS. To guarantee a robust control performance in the presence of such uncertainty, a robust position controller is designed. A Simulink library is developed for the LIM model from the state equation. Through this model and comparative simulation based on Matlab - Simulink, it is proved that the proposed scheme has a robust control nature and is most suitable for APS.

• Geomechanics and Engineering
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• v.20 no.1
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• pp.19-28
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• 2020

The spatial variability of geotechnical properties can lead to the uncertainty of settlement for frozen soil foundation around the oil pipeline, and it can affect the stability of permafrost foundation. In this paper, the elastic modulus, cohesion, angle of internal friction and poisson ratio are taken as four independent random fields. A stochastic analysis model for the uncertain settlement characteristic of frozen soil foundation around an oil pipeline is presented. The accuracy of the stochastic analysis model is verified by measured data. Considering the different combinations for the coefficient of variation and scale of fluctuation, the influences of spatial variability of geotechnical properties on uncertain settlement are estimated. The results show that the stochastic effects between elastic modulus, cohesion, angle of internal friction and poisson ratio are obviously different. The deformation parameters have a greater influence on stochastic settlement than the strength parameters. The overall variability of settlement reduces with the increase of horizontal scale of fluctuation and vertical scale of fluctuation. These results can improve our understanding of the influences of spatial variability of geotechnical properties on uncertain settlement and provide a theoretical basis for the reliability analysis of pipeline engineering in permafrost regions.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.7-14
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• 2015

To implement an automatic picking system (APS) in distribution center with high precision and high dynamics, this paper presents a high gain observer-based robust speed controller design for a linear induction motor (LIM) drive. The force disturbance as well as the mechanical parameter variations such as the mass and friction coefficient gives a direct influence on the speed control performance of APS. To guarantee a robust control performance, the system uncertainty caused by the force disturbance and mechanical parameter variations is estimated through a high gain disturbance observer and compensated by a feedforward manner. While a time-varying disturbance due to the mass variation can not be effectively compensated by using the conventional disturbance observer, the proposed scheme shows a robust performance in the presence of such uncertainty. A Simulink library has been developed for the LIM model from the state equation. Through comparative simulations based on Matlab - Simulink, it is proved that the proposed scheme has a robust control nature and is most suitable for APS.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.03a
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• pp.197-203
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• 2002

The estimation of pile bearing capacity is important since the design details are determined from the result. There are numerous ways of determining the pile design load, but only few of them are chosen in the actual design. According to the recent investigation in Korea, the formulas proposed by Meyerhof based on the SPT N values are most frequently chosen in the design stage. In the study, various static and dynamic formulas have been used in predicting the allowable bearing capacity of a pile. Further, the reliability of these formulas has been verified by comparing the perdicted values with the static and dynamic load test measurements. Also in cases, these methods of pile bearing capacity determination do not take the time effect consideration, the actual allowable load as determined from pile load test indicates severe deviation from the design value. The principle results of this study are summarized as follows : A a result of estimate the reliability in criterion of the Davisson method, in was showed that Terzaghi & Peck > Chin > Meyerhof > Modified Meyerhof method was the most reliable method for the prediction of bearing capacity. Comparisons of the various pile-driving formulas showed that Modified Engineering News was the most reliable method. However, a significant error happened between dynamic bearing capacity equation was judged that uncertainty of hammer efficiency, characteristics of variable , time effect etc... was not considered. As a result of considering time effect increased skin friction capacity higher than end bearing capacity. It was found out that it would be possible to increase the skin friction capacity 1.99 times higher than a driving. As a result of considering 7 day's time effect, it was obtained that Engineering News. Modified Engineering News. Hiley, Danish, Gates, CAPWAP(CAse Pile Wave Analysis Program ) analysis for relation, respectively, $Q_{u(Restrike)}$ $Q_{u(EOID)}$ = 0.971 $t_{0.1}$, 0.968 $t_{0.1}$, 1.192 $t_{0.1}$, 0.88 $t_{0.1}$, 0.889 $t_{0.1}$, 0.966 $t_{0.1}$, 0.889 $t_{0.1}$, 0.966 $t_{0.1}$

• Journal of the Society of Disaster Information
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• v.14 no.4
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• pp.450-457
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• 2018

Purpose: The evaluation of seismic performance of critical structures has been emerging a key issue in Korea, since a magnitude 5.8 earthquake, the worst in Koran history, struck Gyeongju, southern area in Korea on september 12th, 2016. In particular, the catastrophic failure of nonstructural components such as sprinkler piping systems can cause significant economic loss or loss of life during and after an earthquake. The nonstructural components can be more fragile than structural components in seismic behavior. Method: This study presents the seismic performance evaluation of fire protection piping system, using coupled building-piping system installed with Triple Friction Pendulum Bearings (TPBs). Kobe (Japan), Kocaeli (Turkey), and GyeongJu (Korea) were selected to consider the uncertainty of ground motions in this study. Result: In the simulation results, it was observed that the reduction of maximum displacements of the piping system with the TPBs' system was significant: Kobe, Kocaeli, and Gyeongju cases were 49%, 14.4% and 21.5%, respectively. Conclusion: Therefore, using seismically isolated system in a building-piping system can be more effective to reduce the seismic risk than a normally installed building-piping systems without TPBs in strong earthquakes.