• Journal of KSNVE
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• v.6 no.5
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• pp.567-574
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• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• Journal of Navigation and Port Research
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• v.34 no.6
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• pp.441-445
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• 2010

The ouput power of wave energy system in buoy is determined according to the inner diameter of oscillating water column and flow resistance. The increase of adhered shellfish inside the water column leads to decrease the inner diameter of wave energy converter. Influx loss of seawater reduces the efficiency of output power in the wave generation system. In this paper, the test result of AFS characteristic is described for preventing the deposition with shellfish and etc. The current of anode is controlled by buck converter, and the control algorithm developed for AFS in buoy. The experimental results is shown excellent preventing capapbility of AFS in buoy.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.3 s.108
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• pp.283-290
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• 2006

This study is concerned with static and sinusoidal disturbance rejection for a single periodic input disturbance with known period. In the area of active elimination of a disturbance force, the control input should have two different kinds of gains: one is to deliver a stable control and the other is a force component to cancel the external disturbance force. In this paper we employ a simple state feedback control law to make the balance beam stable and employ a linear observer to estimate the states which represent the external disturbance force components. Simulation results verify our proposed control method to reject a static and sinusoidal disturbance force.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2005.11a
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• pp.117-120
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• 2005

The present study describes unsteady flow phenomena generated in a supersonic flow passing over a rectangular cavity and suggests a way of control of pressure oscillation, doing harm to overall performance and stable operation of aerodynamic and industrial applications. The three-dimensional, unsteady, compressible Navier-stokes equations are numerically solved based on a fully implicit finite volume scheme and large eddy simulation. The cavity flow are simulated with and without control methods, including a triangular bump and blowing jet installed near the leading edge of the cavity. The results show that the pressure oscillation is attenuated by both control techniques, especially near the trailing edge of cavity.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.550-554
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• 1995

The present paper deals with the dynamic stability and vibration suppression of a cantilevered flexible pipe with a concetrated mass under an internal fluid flow. The equations of motion are derived by energy expressions using Hamilton's pronciple, and some analytical results using Galerkin's method are presented. Finally, the vibration suppression technique by means of an internal fluid flow is demonstrated experimentally.

• JOURNAL OF ELECTRICAL WORLD
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• s.275
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• pp.63-69
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• 1999

최근 들어 세계적인 에너지 사정의 절박함과 지구환경보호 문제는 에너지 이용수단으로서의 전기에의 의존도를 더욱 높이고 있다. 그것은 전력이 갖는 다양한 이용형태와 제어의 용이성에서 얻어지는 에너지졀약 효과와 청정도(淸淨度)등에 유래한다. 이러한 동향에 따라 최근 전력을 변환$\cdot$제어하는 파워일렉트로닉스의 중요성이 재인식되고 있음은 물론 앞의 과제의 해결수단으로서도 기대가 높아지고 있다. 1차에너지원에서 시작하여, 우리들이 접하는 기기나 장치의 전원에 이르기까지 에너지의 흐름에는 발송전, 전력변환, 장치구동의 3단계의 변환과정이 있다. 각 단계의 어느것이나 파워일렉트로닉스가 관여하는 기술영역으로서 각각의 변환과정에서의 에너지 로스나 환경오염에 대한 대책이 가장 중요한 과제가 되고 있으며, 그 개선책에 대하여 각국에서 지금 열심히 연구개발이 진행되고 있다. 이상과 같은 추세에 따라 최근의 파워일렉트로닉스의 주요 기술동향을 요약하면 다음과 같다.(1)대용량화 전력계통제어에의 적용을 주체로 하여 파워디바이스, 손실경감기술, 계통제어기술 등을 개발하여 제어시스템 전체의 자스페이스와 전력손실 경감을 도모한다. (2)인텔리전트화 전력이나 전동기의 제어를 주대상으로, 정보처리기능의 향상에 대응한 제어기술을 도입하여 고성능$\cdot$저손실$\cdot$저진동 등의 제어를 실현한다. (3)범용화(汎用化) 각종 산업분야에의 고정속(固定速) 전동기부하를 대상으로, 인버터에 의한 가변속기능을 부가함으로서 저에너지장치의 소형화, 저소음화 등을 달성한다. (4) 환경조화 모든 파워일렉트로닉스 관련기기를 대상으로 저(低)진동소음$\cdot$고조파억제$\cdot$자전력 소형화기술 등을 개발하여 환경에 친화적인 기기$\cdot$장치를 제공한다.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.15 no.1
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• pp.147-154
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• 2002

The dynamic load caused by sloshing of internal fluid severely affects the structural and control stabilities of cylindrical liquid containers accelerating vertically. If the sloshing frequency of fluid is near the frequency of control system or the tank structure, large dynamic force and moment act on launching vehicles. For the suppression of such dynamic effects, generally flexible ring-type baffles are employed. In this paper, we perform the numerical analysis to evaluate the dynamic suppression effects of baffle. The parametric analysis is performed with respect to the baffle inner-hole diameter and two different baffle spacing types : equal spacing with respect to the tank and one with respect to the fluid height. The ALE (arbitrary Lagrangin-Eulerian) numerical method is adopted for the accurate and effective simulation of the hydrodynamic interaction between fluid and elastic structure.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.3
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• pp.83-89
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• 2001

In this paper, we discuss the vibration suppression control of spatial redundant flexible manipulators through pseudo-inversed of Jacobian. In order to verify our method, the experiments are performed for PTP(Point To Point) motion of spa-tial flexible manipulators(1) with no redundancy(2) with one redundant DOF(degree of freedom). Finally, a comparison between these results is presented to show the performance of out approach.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1803-1804
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• 2008

이 논문에서는 임의의 크기를 가진 외란과 모델 불확실이 포함된 2관성계 시스템의 강인 제어기를 설계하고자 한다. 제안된 제어기는 역진 제어 기법을 사용하여, 2-관성계 시스템의 제어하고자 하는 상태 변수의 궤적과 공칭 궤적 사이의 오차를, 정상 상태에서뿐만 아니라 과도 상태에서도 임의의 크기로 줄일 수 있도록 설계될 것이다. 또한 비선형 제어 기법의 일종인 역진 제어 기법을 사용하였지만, 제시된 제어기의 구조는 시불변 선형 상태 궤환(state-feedback) 및 앞먹임(feedforward)의 구조를 가지게 되어 산업용 로봇에 적용될 수 있다는 장점을 가지고 있다. 실제로 이 논문에서는 제어기의 안정성에 대한 증명뿐만 아니라, 실제 로봇에 적용한 결과가 포함될 것이다.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.4
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• pp.356-364
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• 2013

This paper presents a tracking gain-up controller design method to control effectively the vibration of tracking actuator caused by external shocks and remaining velocity after seek control. A pole placement constraint is considered to assure a desired transient response against the vibration of tracking actuator. A loop gain-up constraint is introduced to hold the tracking gain-up loop gain and control bandwidth within allowable bounds. The pole placement constraint is expressed by a matrix inequality and the loop gain-up constraint is considered as an objective function so that genetic algorithm can be applied. Finally, a tracking gain-up controller is obtained by integrating a genetic algorithm with LMI design approach. The proposed tracking gain-up controller design method is applied to the track-following system of a DVD recording device and its effectiveness is evaluated through the experimental results.