• Journal of Astronomy and Space Sciences
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• v.14 no.2
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• pp.386-394
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• 1997

In this study, a few of the modeling methods for flexible spacecraft were introduced and adopted to the modeling of a 3-axes stabilization satellite. The generated model was put into pre-built rigid body attitude control loop. A Lumped Parameter Model(Global Mode Model: GMM) was recommended for the absence of the Finite Element Method(FEM) model. Finally, GMM was compared with FEM in terms of designing a control filter. A 1st-order filter was designed to meet requirements of the controller since the new flexible model was applied, and that filter was added to motor controller and axis controller. MATLAB/Simulink was used as a tool for design and simulation of the control loop and filter.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.6
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• pp.448-457
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• 2013

This paper presents the design of an active flutter suppression system for flexible wing using sliding mode control method. The aerodynamic force generated by the motion of a flexible wing control surface is utilized as control force. For this purpose, aeroservoelastic model is formulated by blending aeroelastic model, control surface actuator model, and gust model. A sliding mode controller is designed for active flutter suppression on the aeroservoelastic model in conjunction with Kalman filter that estimates the system states based on the measured output. The performance of the designed controller is demonstrated via numerical simulation for the representative flexible wing model.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.3
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• pp.643-650
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• 2017

The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for the flexible joint robot by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition for disturbances. The dynamic model of flexible joint robot is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.

• Journal of the Earthquake Engineering Society of Korea
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• v.2 no.4
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• pp.123-134
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• 1998

본 연구에서는 지반상태가 교량의 지진응답에 미치는 영향을 분석하기 위해 다양한 지반모델 상의 교량모델에 대한 지진해석을 수행하고 그 결과를 비교.분석하였다 이를 위해서 기존의 교량시방서에서 분류된 네가지의 서로다른 지반종류를 대상으로 보다 세분된 지반모델 상에 위치하는 대표적인 교량에 대한 지진해석을 수행함으러써 첫째로는 각 지반 종류 상호간의 지진응답 차이의 정도를 시방서 값과 비교.분석하였으며 둘째로는 동일 지반으로 분류되는 상이한 두 지반간의 응답차이의 정도를 확인하였다 해석을 위해서는 시방서에서 제시된 두가지 방법 즉 단일모드 스펙트럼해석법과 다중모드 스펙트럼해석법을 사용하였으며 이들 결과를 별도로 작성된 인공시간이력을 입력으로 하는 시간이력해석법을 사용한 결과와 비교.분석하였다 시간이력해석법에서는 진동수에 무관한 지반임피던스함수를 이용하는 시간영역해석법을 사용하였다 해석결과 시방서에서 제시한 단일모드 및 다중모드 스펙트럼해석방법은 일반적으로 안전측의 지반-구조물 상호작용 해석결과를 주는 것으로 확인되었다 그러나 유연성이 큰 지반 상의 구조물에대한 지진해석을 위한 해석모델 작성시에는 지반의 유연성이 반드시 고려되어야 하며 특히 낙교방지를 위한 변위는 지반의 유연성을 고려한 정밀해석법에 의한 계산이 필수적으로 요구됨을 확인하였다.

• School Mathematics
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• v.18 no.1
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• pp.127-141
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• 2016

This study analyzes modes related to use of graph representation that appears to solve high school students quadratic function problem based on the graph using modes of Chauvat. It was examined the extent of understanding of the quadratic function of students through the flexibility of the representation of the Bannister (2014) from the analysis. As a result, the graph representation mode in which a high school students are mainly used is a nomographic specific mode, when using operational mode, it was found to be an error. The flexibility of Bannister(2014) that were classified to the use of representation from the point of view of the object and the process in the understanding of the function was constrained operation does not occur between the two representations in understanding the function in the process of perspective. Based on these results, the teaching on use graph representation for the students in classroom is required and the study of teaching and learning methods can understand the function from various perspectives is needed.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.11
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• pp.1043-1049
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• 2007

Data transfer rate and storage capacity are main criteria of the performance of the optical disk drive. The highest data transfer rate and the largest storage capacity is most desirable. To increase these performances, the actuator of the optical disk drive should have a high servo bandwidth to compensate the vibration of an optical disk. The servo bandwidth is limited by some flexible modes of the actuator, thus it is essential to increase the natural frequencies of the flexible modes. In this paper, we suggested a moving magnet type actuator having high frequencies of the flexible modes. Generally, the moving magnet type actuator has an advantage to increase the natural frequencies of the flexible modes because the moving magnet type actuator has simple structure and the Young's modulus of magnet is high. However, large moving mass and inefficiency of EM(electromagnetic) circuit cut down driving sensitivities of the actuator. To improve driving sensitivities, we designed the model with the closed electromagnetic circuit for tracking direction. In addition, driving sensitivities and the natural frequencies of the flexible modes were improved by using DOE(design of experiments) for electromagnetic circuit and modifying the lens holder.

• Journal of KSNVE
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• v.6 no.1
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• pp.35-44
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• 1996

This paper presents a new type of fuzzy-sliding mode controller for robust tip position control of a single-link flexible manipulator subjected to parameter variations. A sliding mode controller is formulated with an assumption that imposed parameter variations are bounded so that certain deterministic performance can be guaranted. In the design of the sliding mode controller, so called moving sliding surface is adopted to minimize the reaching phase and thus mitigate system sensitivity to the variations. The sliding mode controller is then incorporated with a fuzzy technique to reduce inherently ever-existing chattering which is impediment in position control of flexible manipulators. A set of fuzzy parameters and control rules are obtained from a relation between predetermined sliding surface and representative points in the state space. Computer simulations are undertaken in order to demonstrate superior control performance of the proposed methodology.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.5
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• pp.1587-1600
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• 1991

본 연구에서는 로봇조작기를 강체부와 유연한 외팔보로 이루어진 모델로 설정 한 후 확장된 Hamilton의 원리를 적용하여 제어계의 운동방정식을 유도하였다. 계를 유한개의 제어 모드와 잔류 모드로 구분하고, 제어 모드에 대해 최적제어를 수행하기 위해 관측기를 설계하였으며, 진동에 관련된 측정 불가능한 상태변수를 추정하였다. 분석과 검토는 서보모터가 모든 제어를 담당하는 방식과 서보모터의 제어 방식에 작동 기를 추가시켜 병행 제어하는 다입출력 방식으로 구별하여 수행하였다.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2011.04a
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• pp.44-47
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• 2011

본 논문에서는 상사진동에서의 응답을 통해 구성된 모드유연도 행렬에 의해 추정되는 변위/변형을 이용해 전당빌딩의 손상을 정량적으로 평가하는 방법을 제시하였다. 제안된 방법은 전단빌딩의 손살발생 후의 층간변위와 손상발생 전 후의 층간변위 차이인 Damage-induced inter-story deflection(DI-ID)의 관계를 이용해 손상을 정량적으로 평가하는 방법이다. 구조물이 양전단력만을 발생시킴으로써 층간변위를 분명히 파악할 수 있도록 하는 양전단력 탐색하중(Positive Shear Inspection Load)을 통해 DI-ID를 산정한다. 제안된 방법의 검증을 위해 5층의 전단빌딩 축소모형을 대상구조물로 선정했으며, 단일손상과 다중손상의 모사를 위해 1층과 3층의 휨강성을 각각 10% 씩 저감시켰다. Static test와 modal test를 통해 각각의 결과를 비교하는 방법으로 제안된 방법의 성능검증을 수행했으며, 축소모형실험 결과, 두 실험간 평균오차 1% 이내로 정확도를 검증했다.

• Journal of KSNVE
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• v.8 no.2
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• pp.313-323
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• 1998

This paper addresses a sliding mode control of vibration in a flexible structure using ER(electro-rheological) dampers. A clamped-clamped flexible structure system supported by two short columns is considered. Three ER dampers to be operated in shear mode are designed on the basis of Bingham model of the arabic gum-based ER fluid, and attached to the flexible beam structure. After deriving the governing equation of motion and associated boundary conditions, a sliding mode controller is formulated to effectively suppress the vibration of the beam structure caused by sinusoidal and random excitations. In the formulation of the controller, parameter variations such as natural frequency deviation are treated to take into account the robustness of control system. The effectiveness of the proposed control system is confirmed by both simulation and experimental results.