• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.345-347
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• 1993

It is known that Feedback linearization has important limitations-the full state has to be measured; no robustness is guaranteed with respect to parameter uncertainty and unmodeled dynamics. In this paper, we construct a nonlinear feedback linearization controller for the system containing uncertain parameters and unknown states, in the case of EMS system with rail vibration. Performance of this controller is demonstrated by computer simulation.

• Journal of the Korean Society of Systems Engineering
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• v.4 no.1
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• pp.45-51
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• 2008

This paper presents template for Critical Design Review(CDR) in case of Urban MAGLEV Program. CDR was executed to confirm for design result based on requirements at last design stage. The integrated template for effective CDR includes requirements, specification and verification items. CDR needs to confirm satisfaction of requirements for design result and define verification method for technical validity. This template will help a consistent and integrated design review. And it is specially useful in huge and complex project.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.9
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• pp.68-79
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• 1997

A six DOF fine manipulator based on magnetic levitation is developed. Since most of magnetic levitation system are inherently unstable, a proposed magnetically levitated fine manipulator is implemented by use of an antagonistic structure to increase stability. From mathematical modeling and experiment, the equations of motion are derived. In addition, a six DOF sensing system is implemented by use of three 2-axis PSD sensors. A model reference-$H_{\infty}$ controller is applied to the system for the position control, In application of the fine manipulator, a wafer probing system is proposed to identify nonfunctional circuts. The probing system requires compliance to avoid destruction of DUT(device under test). A feedfor- ward-PD controllers are presented by the terms of the position accuracy, the settling time and the force accuracy.y.

• Journal of IKEEE
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• v.3 no.2 s.5
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• pp.250-258
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• 1999

This paper presents a decentralized adaptive controller design for a Magnetically Levitated Fine Manipulator to follow the given trajectory as close as possible in spite of coupling effects between motion axes(degree of freedoms or subsystems). The present controller consists of two parts: the model reference controls based on known subsystems and the local adaptive controls. The former stabilizes the motion of the manipulator so as to follow that of the reference model. The latter reduces tracking errors due to coupling disturbances by adjusting the local gains to such levels that override interactions and assure the stability of the overall system. Through several experimental results, it has been shown that the decentralized adaptive control scheme has better tracking performances comparing to the PID controller case as well as good disturbance(coupling) rejection property.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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• pp.203-212
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• 2002

Active magnetic hearings allow much high surface speed than conventional ball bearings and therefore greatly suitable for high speed cutting. This paper describes a design and test of an active magnetic bearing system with 16-pole radial magnets. The spindle is originally designed for a CNC lathe and driven by outer motor with 5.5 kW power and maximum speed 10,000 rpm. Considering static load condition and geometric restrictions, radial magnet is designed 16-pole type for smaller outer diameter of the spindle system. Dynamic system characteristics such as natural frequency, critical speed, stiffness, damping and system stabilities are simulated with a rigid rotor model including direct feedback controller. The designed spindle system is realized with digital PIDD controller to compensate phase lag of PWM amplifier and magnet coils. With levitation and step response experiment the control system characteristics are tested, and the spindle is rotated up to 10,000 rpm stab1y.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2009.05a
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• pp.11-11
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• 2009

종래의 산업폐수 처리기술로는 중금속 함유 폐수에 수용성의 금속염을 첨가하여 가성소다 혹은 소석회를 이용하여 pH를 조정하고 고분자 응집제를 첨가하여 금속의 수산화물을 생성시켜 이를 부상 혹은 침전시켜 Sludge화하여 제거하는 방법이 주로 사용되고 있다. 그 외 질소, 인, 유기물이 함유된 폐수의 경우에는 Biological Oxidation Techniques, 활성탄 흡착방식이 주로 채택되고 있다.[1-3] 이러한 폐수처리기술은 화학약품 사용량이 과다하고 이는 Sludge 생성량을 증대하고 2차 폐수처리가 필요로 하는 경우가 많고, 처리장이 면적이 넓어야 하고 대용량의 Sludge 제거창치가 필요하여 고비용의 처리공정으로 문제점을 가지고 있다.[2-3] 이에 본 연구에서는 이러한 기존 기술의 문제점을 보완할 수 있고 기존 기술로는 완벽하게 처리하기 곤란한 악성 폐수들에 대한 새로운 고도처리기술로 초전도 마그네트를 이용한 고구배 자기분리기술에 대한 기초연구를 하였다. 본 연구에서 사용한 고구배 자기분리 시스템은 무헬륨 전도냉각방식으로 자기분리를 위해 사용한 필터는 SUS 430 재질의 메쉬 형태로 제작하여 실험하였다. 또한, 자기분리 처리를 위한 전처리 공정으로는 응집제를 첨가하여 자기분리 효율을 높이고자 하였다. 자기분리 처리대상수로는 포항제철에 압연 강판에 사용되는 냉각수를 대상으로 자기분리 처리에 대한 효과를 실험하였다. 또한, 자기분리에 대한 특성을 평가하기 위해 강자성의 $Fe_3O_4$ 미세자성분말을 첨가하여 처리수내의 들어있는 유기물질에 대해 자기분리 자장 및 유속에 대한 처리효율을 미치는 영향을 조사하였다. 자기분리 처리는 1~6 Tesla에서 자기필터는 디스크 형태로 다층으로 연속적으로 적층하였으며, 처리유속은 1~4 l/min으로 하였다. 고농도인 처리폐수를 자가분리 인가 자장에 따라 처리하여 고농도에서는 70%, 저농도에서는 98 %까지 처리되었다. 또한, 자기분리용 필터는 SUS 430 재질의 mesh 망을 사용하였으며 인가자장 및 유속변화에 대한 실험 결과 탁도 및 농도는 필터 크기의 영향은 거의 차이가 없었으며 단지 인가자장 및 유속에 따라서 지수적으로 감소하였다. 자기분리된 용액 내 $Fe_3O_4$ 입도 분석 결과 자기분리 이전에 분포하던 $10\sim20\;{\mu}m$의 입자는 거의 제거되었으며 2 ${\mu}m$ 이하의 입자들은 실험 횟수에 따라 점점 직경이 작은 쪽으로 분포가 좁아졌으며, 마그네타이트의 자화율을 분석한 결과 약 0.8 Tesla에서 포화 되었으며 처리수의 탁도 및 농도가 자장에 따라 감소하는 것으 알 수 있었다.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.1100-1107
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• 2011

The light-rail system which is recently being built in Korea is a train control system based on driverless operation, and the train control system for urban maglev train under construction at the moment in Youngjong-Do, Incheon is pushed ahead based on driverless operation. In this paper, it compares train operation cases with manned operation and unmanned operation to examine system requirements for unmanned driving on train and detects system requirements of automatic train operation device for unmanned operation by analyzing unmanned operation cases which are currently operating or planed project and also introduces automatic train operation of urban maglev train and verifies whether the system for unmanned driving meets the requirements.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.1108-1114
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• 2011

In general, railway system uses wheels so detecting speed by tachometer. However, LRT(Light Rail Transits) stands out recently as alternatives transportation, and besides of that Maglev trains are emerged as an alternative means of transportation. Maglev operates above certain heights caused inability of the measurement by tachometer which used to detect speed of wheels. Velocity Detection Signal Device of Train Control System applied in "Train Control System Project of Pilot Line Construction for Urban MAGLEV Train" which is prepared ahead of opening in 2013. This paper, therefore, explains the function and operation principal of Velocity Detection Signal Device, and suggests installation method of velocity detection loop installed around the track.

• Proceedings of the KIEE Conference
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• 1997.07f
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• pp.1982-1984
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• 1997

In this paper, adaptive variable structure control is proposed for Electromagnetic Suspension(EMS). Although variable structure control shows excellent robustness to unstructured modelling uncertainty, such as flux leakage and saturation, it has several drawbacks that severely limit practical applicability such as high control activity and control chattering. To minimize these effects, the mass of the electromagnet and efficiency of levitation force are estimated on-line to reduce the range of system uncertainty. The effectiveness of the proposed control scheme is verified by experimental results using a 1.5kg electromagnet and DSP (TMS320C31).

• Proceedings of the KIEE Conference
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• 1997.07f
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• pp.2174-2176
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• 1997

The purpose of this paper is to improve tracking performance for an EMS system using variable structure control. To improve current control of characteristics and to reduce chattering, a reaching law is applied. A disturbance observer using sliding observer is designed to compensate the influence of disturbances. This observer compensates modelling uncertainty and steady state error as well as external disturbance. The effectiveness of the proposed control scheme is demonstrated by experiments