• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1995년도 춘계공동학술대회논문집; 전남대학교; 28-29 Apr. 1995
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• pp.869-879
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• 1995

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of learning control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. In the previous paper, I had studied the use of such controllers in a decentralized system, such as a robot with the controller for each link acting independently. The basic result of the paper is to show that stability of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized learning in the coupled system, provided that the sample time in the digital learning controller is sufficiently short. In this paper, we present two examples. The first illustrates the effect of coupling between subsystems in the system dynamics, and the second studies the application of decentralized learning control to robot problems. The latter example illustrates the application of decentralized learning control to nonlinear systems, and also studies the effect of the coupling between subsystems introduced in the input matrix by the discretization of the system equations. The conclusion is that for sufficiently small learning gain, and sufficiently small sample time, the simple learning control law based on integral control applied to each robot axis will produce zero tracking error in spite o the dynamic coupling in the robot equations. Of course, the results of this paper have much more general application than just to the robotics tracking problem. Convergence in decentralized systems is seen to depend only on the input and output matrices, provided the sample time is suffiently small.

• 대한기계학회논문집A
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• 제20권3호
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• pp.968-977
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• 1996

The linear/nonlinear vibration response of the rotating hybrid cylindrical shell with simply supported boundary condition is studied. The Ritz-Galerkin method is applied to obtain the nonlinear frequency equation, which excludes in-plane and rotatory inertia but includes bending stretching coupling terms. The bifurcation phenomena for the linear frequency and the frequency ratio(nonlinear/linear frequency ratio) are presented. The hybrid cylindrical shells are composed of composite(GFRP, CFRP) metal(aluminium, steel) with symmetric and antisymmetric stacking sequence. The effects of the Coriolis and centrifugal force are considered The results also present the effects of length-to- radies ratio, radius-to-thickness ratio, the circumferential wave number, the stacking sequence, the material property, the initial excitation amplitude and the rotating speed. The present linear frequency results are compared with those of the available literature.

• International Journal of Control, Automation, and Systems
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• 제3권3호
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• pp.387-396
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• 2005

The Rotational/Translational Actuator (RTAC) benchmark problem considers a fourth-order dynamical system involving the nonlinear interaction of a translational oscillator and an eccentric rotational proof mass. This problem has been posed to investigate the utility of a rotational actuator for stabilizing translational motion. In order to experimentally implement any of the model-based controllers proposed in the literature, the values of model parameters are required which are generally difficult to determine rigorously. In this paper, an approach to the least-squares estimation of the parameters of a system is formulated and practically applied to the RTAC system. On the other hand, this paper shows how to model a nonlinear system as a linear uncertain system via nonparametric system identification, in order to provide the information required for linear robust $H_\infty$ control design. This method is also applied to the RTAC system, which demonstrates severe nonlinearities, due to the coupling from the rotational motion to the translational motion. Experimental results confirm that this approach can effectively condense the whole nonlinearities, uncertainties, and disturbances within the system into a favorable perturbation block.

• 조명전기설비학회논문지
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• 제21권10호
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• pp.150-158
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• 2007

규모가 큰 제철소는 전기로를 포함한 시간에 따라 변하는 비선형 부하를 가지고 있다. 이들 비선형 부하는 고조파 전류를 발생시키고, 전력계통의 전압을 왜곡시킨다. 플리커는 전압 변동의 크기에 따라 램프의 방출 변화에 의한 인간의 지각 효과로 정의된다. SVC의 주 목적은 공통결합점에서 전압을 한계값 이하로 유지하는데 있다. 본 논문에서는 SVC 투입 전후의 고조파와 플리커 저감 효과를 분석하고, IEC 61000-3-6과 IEC 61000-3-7에 의해 평가하였다.

• Journal of Power Electronics
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• 제14권2호
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• pp.369-382
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• 2014

A growing dynamic electrical demand has created an increasing interest in utilizing nonconventional energy sources like Photovoltaic (PV), wind power, etc. In this context, this paper focuses on the design and development of a composite power controller (CPC) in the decoupled double synchronous reference frame (DDSRF) combining the advantages of direct power control (DPC) and voltage oriented control (VOC) for a PV sourced grid connected inverter. In addition, a controller with the inherent active filter configuration is tested with nonlinear and unbalanced loads at the point of common coupling in both grid connected and autonomous modes of operation. Furthermore, the loss and reactive power compensation due to a non-fundamental component is also incorporated in the design, and the developed DDSRF model subsequently allows independent active and reactive power control. The proposed developed model of the controller is also implemented using MATLAB-Simulink-ISE and a Xilinx system generator which evaluate both the simulated and experimental setups. The simulation and experimental results confirm the validity of the developed model. Further, simulation results for the DPC are also presented and compared with the proposed CPC to further bring out the salient features of the proposed work.

• Structural Engineering and Mechanics
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• 제1권1호
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• pp.1-16
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• 1993

The behavior of shear-wall dominant, low-rise, multistory reinforced concrete building structures is investigated. Because there are no beams or columns and the slab and wall thicknesses are approximately equal, available codes give little information relative to design for gravity and lateral loads. Items which effect the analysis of shear-wall dominant building structures, i.e., material nonlinearity including rotating crack capability, 3-D behavior, slab-wall interaction, floor flexibilities, stress concentrations around openings, the location and the amount of main discrete reinforcement are investigated. For this purpose 2 and 5 story building structures are modelled. To see the importance of 3-D modelling, the same structures are modelled by both 2-D and 3-D models. Loads are applied first the vertical then lateral loads which are static equivalent earthquake loads. The 3-D models of the structures are loaded in both in the longitudinal and transverse directions. A nonlinear isoparametric plate element with arbitrarily places edge nodes is adapted in order to consider the amount and location of the main reinforcement. Finally the importance of 3-D effects including the T-C coupling between walls are indicated.

• Structural Engineering and Mechanics
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• 제53권3호
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• pp.393-410
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• 2015

Two dimensional numerical models and physical models have been developed to study the highly nonlinear interactions between waves and breakwaters, but several of these models consider the effects of the structural dynamic responses and the shape of the breakwater axis on the wave pressures. In this study, a multi-material Arbitrary Lagrangian Eulerian (ALE) method is developed to simulate the nonlinear interactions between nonlinear waves and elastic seawalls on a coastal rubble mound breakwater, and is validated experimentally. In the experiment, a solitary wave is generated and used with a physical breakwater model. The wave impact is validated computationally using a breakwater - flume coupling model that replicates the physical model. The computational results, including those for the wave pressure and the water-on-deck, are in good agreement with the experimental results. A local breakwater model is used to discuss the effects of the structural dynamic response and different design parameters of the breakwater on wave loads, together with pressure distribution up the seawall. A large-scale breakwater model is used to numerically study the large-scale wave impact problem and the horizontal distribution of the wave pressures on the seawalls.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.948-951
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• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• Steel and Composite Structures
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• 제19권3호
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• pp.713-733
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• 2015

In this paper, viscous fluid induced nonlinear free vibration and instability analysis of a functionally graded carbon nanotube-reinforced composite (CNTRC) cylindrical shell integrated with two uniformly distributed piezoelectric layers on the top and bottom surfaces of the cylindrical shell are presented. Single-walled carbon nanotubes (SWCNTs) are selected as reinforcement and effective material properties of FG-CNTRC cylindrical shell are assumed to be graded through the thickness direction and are estimated through the rule of mixture. The elastic foundation is modeled by temperature-dependent orthotropic Pasternak medium. Considering coupling of mechanical and electrical fields, Mindlin shell theory and Hamilton's principle, the motion equations are derived. Nonlinear frequency and critical fluid velocity of sandwich structure are calculated based on differential quadrature method (DQM). The effects of different parameters such as distribution type of SWCNTs, volume fractions of SWCNTs, elastic medium and temperature gradient are discussed on the vibration and instability behavior of the sandwich structure. Results indicate that considering elastic foundation increases frequency and critical fluid velocity of system.

• Nuclear Engineering and Technology
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• 제41권7호
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• pp.885-892
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• 2009

This manuscript will discuss a numerical method where the six equations of two-phase flow, the solid heat conduction equations, and the two equations that describe neutron diffusion and precursor concentration are solved together in a tightly coupled, nonlinear fashion for a simplified model of a nuclear reactor core. This approach has two important advantages. The first advantage is a higher level of accuracy. Because the equations are solved together in a single nonlinear system, the solution is more accurate than the traditional "operator split" approach where the two-phase flow equations are solved first, the heat conduction is solved second and the neutron diffusion is solved third, limiting the temporal accuracy to $1^{st}$ order because the nonlinear coupling between the physics is handled explicitly. The second advantage of the method described in this manuscript is that the time step control in the fully implicit system can be based on the timescale of the solution rather than a stability-based time step restriction like the material Courant limit required of operator-split methods. In this work, a pilot code was used which employs this tightly coupled, fully implicit method to simulate a reactor core. Results are presented from a simulated control rod movement which show $2^{nd}$ order accuracy in time. Also described in this paper is a simulated rod ejection demonstrating how the fastest timescale of the problem can change between the state variables of neutronics, conduction and two-phase flow during the course of a transient.