• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.2
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• pp.137-143
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• 2011

The pitch motion of a gravity-gradient satellite can be chaotic, depending on the ratio of mass moments of inertia and the eccentricity of the satellite orbit. For a precise prediction of motion, chaotic pitch motion has to be changed to non-chaotic motion. Feedback control can be used to obtain nonchaotic pitch motion. For chaos control and stabilization of the pitch motion of a gravity-gradient satellite, a feedback control system is designed, based on the linear nonautonomous system obtained by linearizing the nonlinear pitch motion. The control law obtained has two parameters and is applied to chaotic nonlinear pitch motion. The nonlinear control system satisfies the proposed control objectives in the range of the nonchaotic parameter space.

• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.154-157
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• 2002

본 연구는 관성의 변화, 비선형 마찰 등에 견실한 피드포워드 적응 위치제어기를 제안한다. 제안된 적응 위치제어기의 특징은 제어기 적응파라미터가 위치오차에 기준모델의 속도 정보를 받아들여 셀프 튜닝된다. 이것은 과도응답 특성을 향상시키고, 정상상태의 수렴 시간을 줄여 시스템의 성능을 개선시킨다. 시뮬레이션을 통하여 제안된 피드포워드 적응 위치제어기의 동작과 설계 방법의 타당성을 보였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.1
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• pp.45-53
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• 2015

Large-capacity of household washing machine can become unbalanced during the dehydration process. To solve this problem, several types of suspensions have been installed in a washing machine. In this study, physical tests were carried out on a frictional suspension, and the nonlinear characteristics were modeled by combining several simple physical models. The parameters were estimated based on the least squares solution. The simulation and test results were compared to verify the validity of the friction damper model.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2224-2226
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• 2003

서보시스템은 공작 기계, 자동화기계용 등의 제어에 사용되고 있는 대표적인 제어 시스템으로서 관성 디스크를 교환하기도 하며 전자가변 포화도와 히스테리시스등을 사용하여 고정밀 연구용에도 이용가능하다. 그러나 모델의 불확실성이나 외부외란이 필연적으로 존재할 수 밖에 없으므로 이를 분석하고 규명하여 원하는 목적의 제어를 위한 제어기를 설계해야만 할 것이다. 따라서, 본 연구에서는 제어대상 시스템의 불화실성을 극복할 수 있고 비선형항의 소거를 통한 선형화가 아닌 비선형 제어기의 설계를 가능하게 하는 Backstepping 제어기법을 사용하여 서보시스템의 정밀한 제어와 시스템 안정성을 보장하고자 한다. Backstepping 제어기를 설계하여 다양한 조건하에서의 시뮬레이션을 수행하여 제안하는 제어기의 최적 수행 능력을 보이고자 한다.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.29 no.6
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• pp.369-381
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• 2017

It has been presumed that highly nonlinear skewed waves frequently observed in a surf zone could significantly influence the transmission behaviour via a porous wave breaker due to its larger inertia force than its nonlinear counterparts of zero skewness [Cnoidal waves]. In this study, in order to confirm this perception, a numerical simulation has been implemented for 6 waves the skewness of that range from 1.02 to 1.032. A numerical simulation are based on the Tool Box called as the ihFoam that has its roots on the OpenFoam. Skewed waves are guided by the shoal of 1:30 slope, and the flow in the porous media are analyzed by adding the additional damping term into the RANS (Reynolds Averaged Navier-Stokes equation). Numerical results show that the highly nonlinear skewed waves are of higher transmitted ratio than its counterparts due to its stronger inertia force. In this study, in order to see whether or not the damping at the porous structure has an effect on the wave celerity, we also derived the dispersive relationships of Nonlinear Shallow Water Eq. [NSW] with damping at the porous structure being accounted. The newly derived dispersive relationships shows that the phase lag between the damping friction and the free surface elevation due to waves significantly influence the wave celerity.

• Journal of the Earthquake Engineering Society of Korea
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• v.1 no.1
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• pp.11-17
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• 1997

Seismic analyses of structures were carried out in the past assuming a right base and Ignoring the characteristics of foundations and the properties of the underlying soil. Resent soil-structure interaction studies show that seismic response of structure can be affected significantly by these fators. Typical effects of the soil-structure interaction are the kinematic interaction of a rigid massiess foundation and the inertial interaction between underlying soil and structure. The kinematic interaction effect is particularly important for embedded foundations and can be ignored for surface foundations with vertically propagating waves. In this study, seismic response of structure was investigated with four buildings in Mexico City considering only the inertial interaction effect and using the E-W components of the 1985 Mexico City earthquake records. The study was carried out for surface foundations and pile foundations with linear and nonlinear soil conditions, comparing the results with those of the rigid base.

• Magazine of the Korean Society of Agricultural Engineers
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• v.37 no.2
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• pp.53-63
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• 1995

본 논문의 다경간 연속아치의 자유진동에 관한 연구이다. 다경간 연속아치의 고유진 동수 및 진ㄷㅇ형을 산출하기 위하여 내부지점의 지점조건에 다른 경계조건식을 유도하였다. 아치의 선형은 포물선을 택하였으며, 회전-로울러-회전, 고정-회전-고정의 지점 조건을 갖는 2경간 연속아치에 대한 수치해석 결과를 제시하였다. Runge-Kutta maethod을 이용 하였다. 실제 수치해석예에서는 회전관성이 고유진동수에 미치는 영향을 고찰 하였으며, 무차원 고유진동수와 아치높이 지간길이비 및 세장비 사이의 관계를 분석하였다. 또한 실험을 토아여 이론적인 해석결과를 검증하였다.

• Computational Structural Engineering
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• v.7 no.1
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• pp.83-90
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• 1994

This study presents the nonlinear dynamic analysis method of the bridge with the seismic isolation bearing. Also the numerical analyses are performed for investigating the response characteristics of the bridge isolated with the lead-rubber bearing under the ground motions compatible to Korea bridge design response spectra. It is found that the pier design force can be considerably smaller than the one for the bridge with the fixed bearing. It is observed that the lead-rubber bearing has the great effectiveness for reducing the longitudinal seismic force in case of the bridges with low and medium periods. Therefore the seismic isolation bearing can be used instead of the fixed bearing for the economic and safe design of the bridge.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.3
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• pp.263-273
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• 2008

The precision of sensors' position is particularly important in the application of road extraction or digital map generation. In general, the various ranging solution systems such as GPS, Total Station, and Laser Ranger have been employed for the position of the sensor. Basically, the ranging solution system has problems that the signal may be blocked or degraded by various environmental circumstances and has low temporal resolution. To overcome those limitations a IMU/range integrated system could be introduced. In this paper, after pointing out the limitation of extended Kalman filter which has been used for workhorse in navigation and geodetic community, the two sampling based nonlinear filters which are sigma point Kalman filter using nonlinear transformation and carefully chosen sigma points and particle filter using the non-gaussian assumption are implemented and compared with extended Kalman filter in a simulation test. For the ranging solution system, the GPS and Total station was selected and the three levels of IMUs(IMU400C, HG1700, LN100) are chosen for the simulation. For all ranging solution system and IMUs the sampling based nonlinear filter yield improved position result and it is more noticeable that the superiority of nonlinear filter in low temporal resolution such as 5 sec. Therefore, it is recommended to apply non-linear filter to determine the sensor's position with low degree position sensors.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.10-18
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• 1998

불확실한 변수와 비선형성을 가지는 유연조인트 로봇의 견실제어 방안을 제시한다. 그리고 본 시스템에서 불확실구조는 일치성을 유지하지 않는 불일치성 불확실 시스템이다. 제어기는 리아노프의 방안에 근거를 두고있다. 견실제어는 연산토크법을 사용하고 삽입제어기법을 통하여 좌표변환을 통해 구성된다. 제어기 설계과정은 우선 연산토크방법에 의해 시스템 동역학에서 정격부분을 선형으로 2개의 부분시스템으로 구성한다. 이후 좌표변환을 이용하여 각 부분시스템에 제어기를 구축한다. 이 방안을 통하여 관성 행렬이 알려진 값인 경우 이 행렬의 상위한계 조건없이 제어기를 설계할 수 있다. 따라서 임의의 형태의 로봇에도 적용 가능한 제어알고리즘이 된다. 설계된 견실제어는 변환된 시스템이나 원시스템 모두 실용적 안정성을 보장한다. 이 변환은 단지 불확실변수의 최대 한계값의 정보만을 요구한다.