• Transactions of the Korean Society of Mechanical Engineers B
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• v.40 no.5
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• pp.313-319
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• 2016

It is very important to understand and control the sloshing in a liquid container that is partially filled with liquid. Previous studies focused primarily on the sloshing and resonance caused by sinusoidal excitations, while the present study focuses on understanding and suppressing sloshing in a container that moves rapidly from a given point to another in industrial applications. To achieve this, we first numerically predict the two-phase flow induced by the horizontal movement of a rectangular container. Then we analyze the effects of container-velocity profile (in particular acceleration/deceleration duration) on sloshing. Results show that sloshing is significantly suppressed when the acceleration/deceleration duration is a multiple of the 1st-mode natural period of sloshing.

• Journal of Power System Engineering
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• v.10 no.3
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• pp.88-96
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• 2006

While the crane system operate in port, one of main objective is to transport containers to the goal position as soon as possible. Because this is one of the biggest problem in terms of productivity of port, the container crane is operated by an expert operator until now. However recently an automatic control system with high performance is required to improve the performance of the crane system and to make high productivity. Therefore we developed an optimal controller based on Humoral Immune Algorithm with PID controller. The proposed system has a real time structure and can improve the performance such as anti-sway problem. Some computer simulations are implemented to assess the characteristics of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1087-1090
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• 1996

The objective of this paper is to present a new input torque shaping method for slewing and vibration suppression of flexible structure based on Fourier series expansion. Vibration energy of the structure with shaped control input is investigated with respect to the shaping parameter of the reference torque, maneuver time and the number of trigonometric functions to be included in the series. Analytic expressions of the performance indices and their derivatives are derived in the modal coordinates. Numerical results show the effectiveness of the proposed approach to design the open-loop control law that modifies the shape of input torque for simultaneous slewing and vibration suppression.

• Proceedings of the KIPE Conference
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• 2013.07a
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• pp.366-367
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• 2013

러시아를 포함한 동유럽 국가에서는 아직까지 상용전원으로 권선형 동기전동기를 구동시키는 산업현장이 많이 있으며, 최근 에너지 절감을 위해 대용량 고전압 권선형 동기전동기 구동용 H-브릿지 멀티레벨 인버터에 대한 수요가 증가하고 있다. 권선형 동기전동기의 일반 V/F 운전 시에 전동기 회전자의 속도가 완벽히 동기화되지 않아 저속영역에서 난조가 발생하여 출력토크가 진동하는 현상으로 운전에 어려움이 있으며, 저속 영역에서의 낮은 토크 출력으로 인하여 다양한 부하에 적용이 힘든 단점을 가지고 있다. 본 논문에서는 H-브릿지 멀티레벨 인버터의 권선형 동기전동기 구동 시 헌팅 억제 알고리즘을 추가하고 속도 지령에 보상함으로써 저속 영역의 속도/토크 헌팅 현상을 저감하는 센서리스 제어 방법을 제안하였다.

• Proceedings of the KIEE Conference
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• 2000.07b
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• pp.1133-1135
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• 2000

In the industrial motor drive system which is composed of a motor and load connected with a flexible shaft, a torsional vibration is often generated because of the elastic elements in torque transmission. To solve this problem, the two-degrees-of-freedom $H_{\infty}$ controller was designed. But it is difficult to realize that controller. In this paper, a new partial state feedback $H_{\infty}$ controller with resonance ratio control is proposed. Proposed controller has simple structure but satisfies the attenuation of disturbances and vibrations.

• Journal of the Korean Society of Propulsion Engineers
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• v.8 no.2
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• pp.25-31
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• 2004

This paper describes a new vibration-suppression technique for flexible cantilevered structures by using a pipe containing an internal flow. The stability and dynamic response are analyzed based on the finite element method. The flutter limit and optimum stabilizing fluid velocity are determined in root locus diagrams. The impulse responses of the system are studied by the mode superposition method to observe the damping rate of the motion. The stabilizing effect of an internal flow is demonstrated by impulse responses of the structures with and without an material damping. It is found that the response of the pipe with flow of liquid has a larger effect of, stabilizing than that with flow of gas.

• Journal of the Institute of Convergence Signal Processing
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• v.4 no.2
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• pp.53-60
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• 2003

For the high center of gravity vehicles the roll stiffness of their suspensions is arranged to be very high because such vehicles are in some danger of tipping over in cornering. In some cases, the effective roll stiffness is determined significantly by the compliance of the tires because of the very stiff anti-roll members incorporated in the suspension. In such cases, it is clear that the shock absorbers which may be effective in damping heave oscillations have little effect on roll oscillations. Therefore, wind gusts and roadway unevenness may cause large swaying oscillations. In this paper, to improve the stability for the high center of gravity vehicles a control scheme to augment the damping of the roll mode is proposed. As the feedback signals needed to provide damping of the roll motion, the front or rear steer angles or both are chosen because they are very related to roll motion. The scheme is effective from moderate to high speeds and stabilizes the roll mode without introducing disturbance moments from roadway unevenness as shock absorbers do. The validity on the proposed method is verified through the computer simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.371-379
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• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents a vibration control solution for industrial robots which have flexible joints. The joint flexibility is modeled as a two-mass system. And we analyze the vibration problem of a classical P-PI controller when it used for the flexible joints of industrial robots. Then a state feedback controller is designed for vibration suppression of the two-mass system. Finally, a gain-scheduling method is designed for maintaining control performance in spite of the time-varying nature of each joint's load side inertia. Simulation and experimental results show effective vibration suppression and uniform properties in overshoot in spite of the variation of load. The result of this study can be applied to the appropriate gain manipulation of many other mechatronic devices which have the two-mass system with varying load side inertia.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.8
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• pp.71-77
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• 2002

We consider the simultaneous slewing and vibration suppression control problem of an idealized structural model which has a rigid hub with two cantilevered flexible appendages and finite tip masses. The finite clement method(FEM) is used to obtain linear finite dimensional equations of motion for the model. In the linear quadratic regulator(LQR) problem, a simple method is introduced to provide a physically meaningful performance index for space structure models. This method gives us a mathematically minor but physically important modification of the usual energy type performance index. A numerical procedure to solve a time-variant LQR problem with inequality control constraints is presented using the method of particular solutions.

• The Transactions of the Korean Institute of Power Electronics
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• v.13 no.3
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• pp.171-178
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• 2008

Pressure control of hydraulic pump using SRM with pressure predictor and direct torque control method is presented in this paper. Nowadays, high efficiency and high performance motor drive is much interested in hydraulic pump system. But the hydraulic pump system has an inherent defect that its dynamic behavior causes by interaction between the sensor and hydraulic load. It will make low performance of whole system, even unstable and oscillatory. Proposed system integrates pressure predictor and direct instantaneous torque control (DITC). The pressure predictor includes Smith predictor, which is easy to improve unstable or long oscillation in traditional negative feedback control and popular PID control architectures. And DITC method can reduce inherent torque ripple of SRM, and develop smooth torque to load, which can increase stability and improve the torque response of SR drive. So high dynamic performance and stabilization can achieved proposed hydraulic system. At last, the proposed hydraulic system is verified by simulation and experimental results.