• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2192-2195
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• 2002

Even though, tanks are used at the many industry plants, it is very difficult to control the tank level without any overflow and shortage; moreover, cause of its complication of dynamics and nonlinearity, it's impossible to realize the accurate control using the mathematical model which can be applied to the various operation modes. However, the sliding mode controller(SMC) is known as having the robust variable structures for the nonlinear control systems with the parametric perturbations and with the sudden disturbances. It's difficult to find SMC's parameters, and SMC is bring chattering which injures actuator and increases error. In this paper, Genetic Aloglism based Fuzzy Sliding Mode Controller(GA-FSMC) for the precise control of the coupled tank level was proposed. Genetic Algolism and Fuzzy logic are adapted to find SMC's parameters and reduce the chattering. The simulation result is shown that the tank level could be satisfactorily controlled with less overshoot and steady-state error by the proposed GA-FSMC.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.13 no.10
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• pp.947-959
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• 2001

We propose a control scheme to control the indoor zone temperature via variable air volume (VAV) unit. To control the room temperature, state space model of the conditioned zone which is partitioned into nine artificial sectional regions is derived. The nonlinearity of the damper motion and actuator are considered for the practical use in the state space system description. The temperature control of the room temperature is performed by manipulating the degree of openness of the damper in relation to the local room temperature and the supplied air flow rate. In general, since a local temperature in the conditioned zone is measured, it is required to estimate the temperature values in each regions for the precise temperature control. We thus design a state observer to estimate the regional temperature, and use these values in the controller. The overall control system consists of the state observer based state feedback with the integral control. We compared the control results of the proposed scheme with those of cascade proportional and integral (PI) control, and showed that the scheme achieved precise control of the conditioned system.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.543-547
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• 2009

This paper describes the design, simulation, development, and experiment of a six degree-of-freedom micropositioning parallel manipulator. A movable stage was supported with six links, each of which extends with a dc-servo micropositioning actuator. In case of parallel manipulator, while the solution of the inverse kinematics is easily found by the vectors of the links which are composed of the joint coordinates in base and platform, but forward kinematic is not easily solved because of the nonlinearity and complexity of the parallel manipulator's kinematic output equation with the multi-solutions. The movable range of the prototype was ${\pm}25mm$ in the x- and y-directions and ${\pm}12.5mm$ in the z-direction. The minimum incremental motion of the prototype was $1{\mu}m$ in the x- and y-directions and $0.5{\mu}m$ in the z-direction. The repeatability of the prototype was ${\pm}2{\mu}m$ in the x- and y-directions and ${\pm}1{\mu}m$ in the z-direction. The motion performance was also evaluated by not only the computer simulation of CAD model but also the experiment using a capacitive sensor system.

• Journal of Ocean Engineering and Technology
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• v.36 no.4
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• pp.243-250
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• 2022

Subsea power cables are subjected to various external loads induced by environmental and mechanical factors during manufacturing, shipping, and installation. Therefore, the prediction of the structural strength is essential. In this study, experimental and theoretical analyses were performed to investigate the axial stiffness of subsea power cables. A uniaxial tensile test of a 6.5 m three-core AC inter-array subsea power cable was carried out using a 10 MN hydraulic actuator. In addition, the resultant force was measured as a function of displacement. The theoretical model proposed by Witz and Tan (1992) was used to numerically predict the axial stiffness of the specimen. The Newton-Raphson method was employed to solve the governing equation in the theoretical analysis. A comparison of the experimental and theoretical results for axial stiffness revealed satisfactory agreement. In addition, the predicted axial stiffness was linear notwithstanding the nonlinear geometry of the subsea power cable or the nonlinearity of the governing equation. The feasibility of both experimental and theoretical framework for predicting the axial stiffness of subsea power cables was validated. Nevertheless, the need for further numerical study using the finite element method to validate the framework is acknowledged.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.8
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• pp.1203-1211
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• 2009

The dynamics of underwater vehicles can be greatly influenced by the dynamics of the vehicle thrusters. The control of the state of the hovering or very slow motion of the underwater vehicle is most important for automatic docking or control of the manipulator of the vehicle. The dynamics of the thruster based on the electric motor is nonlinear and has uncertain parameters. Since the dynamics of the vehicle coupled with the dynamics of the thruster is nonlinear and has uncertain parameters, a robust control is very effective for a desired motion tracking of the uncertain and nonlinear vehicle. In this paper a study was performed on the robust control scheme of the very slow motion or hovering motion of the underwater vehicle actuated by the electric motor. Also, a concurrent control on the state of the vehicle with nonlinearity and uncertain parameters was performed. A sliding mode control algorithm out of robust controllers was designed and applied, which compensates the nonlinear forces and uncertain parameters of the vehicle and actuator. Through a computer simulation, the proposed control scheme was compared with a linear PD controller and its superior performance was validated.

• Journal of the Korean Society for Railway
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• v.15 no.4
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• pp.413-421
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• 2012

The purpose of this study is to evaluate the structural dynamic behavior under hybrid control system. The hybrid test is to consider the interaction between the numerical and physical models. In this paper, single degree of freedom hybrid test was performed with one-bay, two-story steel frame structure. One column at the first floor was selected as a physical substructure and one actuator was used for applying the displacement load in horizontal direction. El Centro as earthquake waves was inputted and OpenSees was employed as the numerical analysis program for the hybrid real-time simulation. As a result, the total time of the hybrid test was about 9.6% of actual measured seismic period. The experimental results agreed well with the numerical one in terms of the maximum displacement. In nonlinear analysis, however, material nonlinearity made a difference of residual strain. Therefore, this hybrid dynamic test can be used to predict the structural dynamic performance more effectively than shaking table test, because of the spatial and economic limitations.