• Journal of Navigation and Port Research
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• v.42 no.2
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• pp.87-96
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• 2018

A trajectory control system plays an important role in controlling motions of marine vehicle when a series of way points or a path is given. In this paper, a sliding mode control (SMC)-based trajectory tracking controller for marine vehicles is presented. A small-sized unmanned ship is considered as a control object. Both speed and heading angle of a ship should be controlled for tracking control. The common point of related researches was to separate ship's speed and heading angle in control methods. In this research, a new control law from a general sliding mode theory that can be applied to MIMO (multi input multi output) system is derived and both speed and heading angle of a ship can be controlled simultaneously. The propulsion force and rudder force are also applied in modeling stage to achieve accurate simulation. Disturbance induced by wind is also tackled in the dynamics considering robustness of the proposed control scheme. In the simulation, we employed a way-point method to generate ship's trajectory and applied the proposed control scheme to ship's trajectory tracking control. Our results confirmed that the tracking error was converged to zero, thus demonstrating the effectiveness of the proposed method.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.4
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• pp.10-15
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• 2019

In this paper, we report a robust steering control using time delay control for the vehicle dynamics variation due to tire/road contact condition variation, the lateral disturbance force due to the side wind, and the yaw disturbance moment due to the difference between the left and right tires' pneumatic pressure. We controlled the side slip and yaw damping compensation for rapid steering at the high velocity of the vehicle. Based on the developed control, the driver can only consider the desired path without concerning on the vehicle dynamics variation, disturbances, and undesired side slip and yaw oscillations. Simulation results show that robustness from the vehicle dynamics variation and disturbances was achieved by using the developed time delay control. We evaluated the side slip and yaw damping compensation capability for the rapid steering at the high velocity of the vehicle in the cases of three control methods.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.2
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• pp.301-308
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• 2017

This paper proposes a disturbance observer based controller design method for generating and yawing control of windturbine with two cooperative generators. Windturbine system with two cooperative generators is a distinct structure in which the wind energy supplied by blade axis is converted into electrical energy by two cooperative generators. In this structure, two generators can be controlled independently and therefore they can generate power, simultaneously performing yawing control of nacelle without extra yawing mechanism by cooperatively controlling generating load in appropriate manner. Using this structural trait, this paper designs a disturbance observer based controller that enables the windturbine system with cooperative generators to generate and yaw stably, and verifies the performance of the controller experimentally by applying it to a small-scale windturbine system with the same structure.

• Korean Journal of Oriental Medicine
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• v.2 no.1
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• pp.40-70
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• 1996

In the literatual study on the cerebral vascular dementia, the results were as follows : 1. Cerebral vascular dementia is so called apoplectic dementia, because it almost occurs after apoplexy, the attack rate has gradually increased by increase of life, so it exert a harmful influence to geriatric diseases. 2. The etiological factors are summarized on deficiency in the heart, kidney, liver(心, 腎, 肝虛), pathogenic wind(豊) pathogenic fire(火) phlegm(痰) and stagnated blood(瘀血) in the oriental medicine, and multiple cerebral infarction, cerebral anemia, decrease of cerebral vascular flow are etiological factors in the occidental medicine. 3. The region of infarction and attack of cerebral vascular dementia have a close connection, and generally the cerebral vascular dementia easily occur in injury of white matter of brain. 4. Symptoms of cerebral vascular dementia are dysphasia, walking disorder, hemiplegia, sensory paralysis, disturbance of memory, judgement, calculation, emotion incontinence, speech impediment, silence or talkative, lower thinking ability and depersonalization, and symptoms are aggravated by stage. 5. Therapeutic herb medicines are Palpungsan(八風散), Baepungsan(排風散), Jinsaanshinhwan(辰砂安神丸), Sabacksan(四白散), Kanghwalyupungsan(姜活愈風散), Woohwangchungshimhwan(牛黃淸心丸), and they are used to dispelling pathogenic wind(祛風), soothe the nerves(安神), dispel pathogenic heat from lung, nourish the blood(淸肺養血).

• Smart Structures and Systems
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• v.13 no.2
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• pp.305-318
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• 2014

This paper numerically investigates the feasibility of an active mass damper (AMD) system using the time delay control (TDC) algorithm, which is one of the robust and adaptive control algorithms, for effectively suppressing the excessive vibration of a building structure under wind loading. Because of its several attractive features such as the simplicity and the excellent robustness to unknown system dynamics and disturbance, the TDC algorithm has the potential to be an effective control system for mitigating the vibration of civil engineering structures such as buildings and bridges. However, it has not been used for structural response reduction yet. In this study, therefore, the active control method combining an AMD system with the TDC algorithm is first proposed in order to reduce the wind-induced vibration of a building structure and its effectiveness is numerically examined. To this end, its stability analysis is first performed; and then, a series of numerical simulations are conducted. It is demonstrated that the proposed active structural control system can effectively reduce the acceleration response of the building structure.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2221-2227
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• 2015

To arrest a frequency nadir, a stepwise inertial control (SIC) scheme generates a constant active power reference signal of a wind turbine generator (WTG) immediately after a disturbance and maintains it for the predetermined time. From that point, however, the reference of a WTG abruptly decreases to restore the rotor speed for the predefined period. The abrupt decrease of WTG output power will inevitably cause a second frequency dip. In this paper, we propose a modified SIC scheme of a doubly-fed induction generator (DFIG) that can prevent a second frequency dip. A reference value of the modified SIC scheme consists of a reference for the maximum power point tracking control and a constant value. The former is set to be proportional to the cube of the rotor speed; the latter is determined so that the rotor speed does not reach the minimum operating limit by considering the mechanical power curve of a DFIG. The performance of the modified SIC was investigated for a 100 MW aggregated DFIG-based wind power plant under various wind conditions using an EMTP-RV simulator. The results show that the proposed SIC scheme significantly increases the frequency nadir without causing a second frequency dip.

• Journal of Ecology and Environment
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• v.41 no.10
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• pp.290-301
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• 2017

Background: Forest edges create distinctive ecological space as adjacent constituents, which distinguish between different ecosystems or land use types. These edges are made by anthropogenic or natural disturbance and affects both abiotic and biotic factors gradually. This study was carried out to assess edge effects on disturbed landscape at the pine-dominated clear-cut area in a genetic resources reserve in Uljin-gun, eastern Korea. This study aims to estimate the distance of edge influence by analyzing changes of abiotic and biotic factors along the distance from forest edge. Further, we recommend forest management strategy for sustaining healthy forest landscapes by reducing effects of deforestation. Results: Distance of edge effect based on the abiotic factors varied from 8.2 to 33.0 m. The distances were the longest in $Mg^{2+}$ content and total nitrogen, $K^+$, $Ca^{2+}$ contents, canopy openness, light intensity, air humidity, $Na^+$ content, and soil temperature followed. The result based on biotic factors varied from 6.8 to 29.5 m, coverage of tree species in the herb layer showed the longest distance and coverage of shrub plant in the herb layer, evenness, species diversity, total coverage of herb layer, and species richness followed. As the result of calculation of edge effect by synthesizing 26 factors measured in this study, the effect was shown from 11.0 m of the forest interior to 22.4 m of the open space. In the result of stand ordination, Rhododendron mucronulatum, R. schlippenbachii, and Fraxinus sieboldiana dominated arrangement of forest interior sites and Quercus mongolica, Vitis amurensis, and Rubus crataegifolius dominated spatial distribution of the open area plots. Conclusions: Forest interior habitat lies within the influence of both abiotic and biotic edge effects. Therefore, we need a forest management strategy to sustain the stability of the plant and further animal communities that depend on its stable conditions. For protecting forest interior, we recommend selective logging as a harvesting method for minimizing edge effects by anthropogenic disturbance. In fact, it was known that selective logging contributes to control light availability and wind regime, which are key factors affecting microclimate. In addition, ecological restoration applying protective planting for the remaining forest in the clear-cut area could contribute to prevent continuous disturbance in forest interior.

• International Journal of Precision Engineering and Manufacturing
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• v.7 no.1
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• pp.35-41
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• 2006

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2-DOF PID controller. The experimental results jar an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard.

• Journal of The Institute of Information and Telecommunication Facilities Engineering
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• v.11 no.2
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• pp.39-45
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• 2012

In recent years the USN(Ubiquitous Sensor Networks) technology has been applied in the greenhouse in order to control temperature and humidity automatically. In this paper, we proposed a control algorithm using feedback linearization techniques based on a mathematical model for temperature and humidity environment. Especially, Control algorithm is presented to the operation of the ventilator affecting on the temperature and humidity system at the same time. The System has been designed taking into account the disturbance(External temperature, soil temperature, external humidity, solar radiation and wind). In conclusion, I will present a way to control multiple actuator through simulations. The proposed control algorithm is validated using the Matlab/Simulink tools.

• Journal of Power System Engineering
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• v.7 no.4
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• pp.74-81
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• 2003

An LQ controller design method is proposed for effective anti-sway control of boom type crane in this paper. It is important for high productivity that the sway of a load is controlled as fast as possible when the trolley arrives to the destination with maximum velocity. To prove the effectiveness of the proposed LQ controller. simulations and experiments using the boom type crane as experimental device is carried out. Tracking performance for a step type reference and robustness for the change of working environment such as the change of load weight and parameters produced by a wire rope and disturbance by the wind arc proved by the experiment. It will be examined that boom type crane can be applied to industrial fields through experiment in this paper.