• Journal of Mechanical Science and Technology
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• v.15 no.4
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• pp.433-440
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• 2001

A new design of the sliding mode control is proposed for the uncertain linear time-varying second order system. The proposed control drives system states to the target point in the minimum time with specified ranges of parametric uncertainties and disturbances. One of the advantages of the proposed control scheme is that the control inputs do not go beyond saturation limits of the actuators. The other advantage is that the minimum arrival time and the acceleration of the second order actuators system can be estimated with given parametric bounds and can be expressed in the closed from; conversely, the designer can select actuators based on the condition of the minimum arrival time to the target point. The superior performance of the proposed control scheme to other sliding mode controllers is validated by computer simulations.

• ETRI Journal
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• v.27 no.5
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• pp.563-568
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• 2005

A motion-control chip contains major functions that are necessary to control the position of each motor, such as generating velocity command profiles, reading motor positions, producing control signals, driving several types of servo amplifiers, and interfacing host processors. Existing motion-control chips can only generate velocity profiles of fixed characteristics, typically linear and s-shape smooth symmetric curves. But velocity profiles of these two characteristics are not optimal for all tasks in industrial robots and automation systems. Velocity profiles of other characteristics are preferred for some tasks. This paper proposes a motion-control chip to generate velocity profiles of desired acceleration and deceleration characteristics. The proposed motion-control chip is implemented with a field-programmable gate array by using the Very High-Speed Integrated Circuit Hardware Description Language and Handel-C. Experiments using velocity profiles of four different characteristics will be performed.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.524-527
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• 1997

Conventional target tracking algorithms based on the linear estimation techniques perform quite efficiently when the target motion does not involve maneuvers. Target maneuvers involving short term accelerations, however, cause a bias in the measurement sequence. Accurate compensation for the bias requires processing more samples of which adds to the computational complexity. The primary motivation for employing a neural network for this task comes from the efficiency with which more features can be as inputs for bias compensation. A system architecture that efficiently integrates the fusion capabilities of a trained multilayer neural net with the tracking performance of a Kalman filter is described. The parallel processing capability of a properly trained neural network can permit fast processing of features to yield correct acceleration estimates and hence can take the burden off the primary Kalman filter which still provides the target position and velocity estimates.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.1-10
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• 2003

This paper presents a high-precision magnetically levitated (maglev) stage to meet demanding motion specifications in the next-generation precision manufacturing and nanotechnology. Characterization of dynamic behaviors of such a motion stage is a crucial task. In this paper, we address the issues related to the stochastic modeling of the stage including transfer function identification, and noise/disturbance analysis and prediction. Provided are test results on precision dynamics, such as fine settling, effect of optical table oscillation, and position ripple. To deal with the dynamic coupling in the platen, we designed and implemented a multivariable linear quadratic regulator, and performed time-optimal control. We demonstrated how the performance of the current maglev stage can be improved with these analyses and experimental results. The maglev stage operates with positioning noise of 5 nm rms in $\chi$ and y, acceleration capabilities in excess of 2g(20 $m/s^2$), and closed-loop crossover frequency of 100 Hz.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1982-1985
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• 2003

Future cellular networks will mainly be driven by, high quality channels, high band with utilization, low power consumption and efficient network management. For a given channel allocation, the capacity and quality of communication of cellular radio systems using CDMA(Code Division Multiple Access) can be increased by using a transmitter power control scheme to combat the near-far problem. Centralized power control schemes or distributed ones to maximize the minimum signal-to-interference in each user of CDMA wireless network have been investigated. This paper has proposed a distributed power control algorithm, which employs an adaptive search scheme, in order to solve quickly the linear systems of equations for power update in CDMA cellular radio systems. The simulation results show that the proposed scheme has faster convergence rate than the typical bang-bang type of distributed power control algorithm, which has been much used as a reference algorithm in IS-95A and W-CDMA communication network.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.723-732
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• 2016

This paper proposes an approach to fused navigation of an unmanned surface vehicle(USV) and to detection of the outlier or interference of global positioning system(GPS). The method fuses available sensor measurements through extended Kalman filter(EKF) to find the location and attitude of the USV. The method uses error covariance of EKF for detection of GPS outlier or interference. When outlier or interference of the GPS is detected, the method excludes GPS data from navigation process. The measurements to be fused for the navigation are GPS, acceleration, angular rate, magnetic field, linear velocity, range and bearing to acoustic beacons. The method is tested through simulated data and measurement data produced through ground navigation. The results show that the method detects GPS outlier or interference as well as the GPS recovery, which frees navigation from the problem of GPS abnormality.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2000.04a
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• pp.38-42
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• 2000

In this study, the low velocity impact behavior of the composite laminates has been described by using 3 dimensional nonlinear finite elements. To describe the geometric nonlinearity due to large deformation, the dynamic contact problem is formulated using the exterior penalty finite element method on the base of Total Lagrangian formulation. The incremental decomposition is introduced, and the converged solution is attained by Newton-Raphson Method. The Newmark's constant-acceleration time integration algorithm is used. To make verification of the finite element program developed in this study, the solution of the nonlinear static problem with occurrence of large deformation is compared with ABAQUS, and the solution of the static contact problem with indentation is compared with the Hertz solution. And, the solution of low velocity impact problem for isotropic material is verificated by comparison with that of LS-DYNA3D. Finally the contact force of impact response from the nonlinear analysis are compared with those from the linear analysis.

• Journal of Advanced Marine Engineering and Technology
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• v.17 no.1
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• pp.26-32
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• 1993

The loads exerted on electro-hydraulic servo system are classified into inertial, viscous, and spring load. The additional load called disturbances is also exerted on system but is generally not modeled. To deal with these kinds of loads, it is necessary to maintain the continuous signal transfer, so we can construct compensator to satisfy control specifications using feedback signal such as displacement, velocity, acceleration and pressure known as state variables. In case of controlling the speed of hydraulic motor, we must keep up robust performance for the various loads and disturbances acted on the system. However, the load flow rate in the valve is characterized by nonlinearity so that traditional theory of linear control could not be expected to give the desired performance. In this paper, it is shown that speed controller of hydraulic motor gives a good command following and disturbance rejection performance by applying sliding mode theory as a way of robust control to the nonlinearity, variation of loads and disturbances.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.387-390
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• 2005

Finite element method was applied to the vibration analysis of concrete slab system in apartment building. To save the time and cost the 2 dimensional finite element model was proposed. At first, experimental results show that sound peak components to influence the overall level and the rating of floor impact sound insulation were coincident with natural frequencies of the reinforced concrete slab. Second, there is linear relationship between the impact sound pressure level and vibration acceleration level. Third, 2 dimensional finite element model was enough to analyze the vibration analysis of floor structure system.

• The KSFM Journal of Fluid Machinery
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• v.2 no.2 s.3
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• pp.32-38
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• 1999

An experimental study is performed to investigate the frequency effects of the excitation force on the linear stiffness and damping coefficients of a LOP (load on pad) type five-pad tilting pad journal bearing with the diameter of 300.91 mm and the length of 149.80 mm. The main parameter of interest in the present work is excitation frequency to shake the test bearing. The excitation frequency is controlled independently, using orthogonally mounted hydraulic exciters. The relative movement between the bearing and shaft, and the acceleration of the bearing casing are measured as a function of excitation frequency using the different values of bearing load and shaft speed. Measurements show that the variation of excitation frequency has quite a little effect on both stiffness and damping coefficients. Both direct stiffness and damping coefficients in the direction of bearing load decrease by the increase of shaft speed, but increase with the bearing load.