• Proceedings of the KSR Conference
• /
• 2010.06a
• /
• pp.1656-1662
• /
• 2010

Automatic train control systems are divided into ATC, ATP and ATS systems etc. The ATP and ATS systems offer discontinuous information for train control. While the ATC systems provide continueous information for train control. There is a method for offering continuous information by AF track circuits. Magnetic fields are formed by current through rails in the AF track circuit systems. So, the continuous information is received by the magnetic fields on a on-board antenna. Coating materials on rails are researched to decrease defects such as head check, shelling, corrugation, squats and so on in Germany. Currently, a coating method of rail construction is proposed by using the ceramics in Korea. When deciding physical characteristic of ceramics, researches are required about variation of flux density by the ceramics. In case that the flux density is much lower than existing value, the information for train control is not transmitted to the on-board antenna. In this paper, inductance on rails is calculated and a model is presented about variation of the magnetic field intensity in the AF track circuit. Standard permeability of ceramics is proposed by analyzing the variation of magnetic field intensity. It is demonstrated by using Maxwell and Matlab program.

• Journal of Advanced Marine Engineering and Technology
• /
• v.22 no.6
• /
• pp.920-927
• /
• 1998

This paper presents a synthetic control algorithm that generates the rudder command angle to track the optimal route which is composed of straight-lines among way-points with keeping a required error limit. The control algorithm comprises three main lgorithms that is a course-keeping algorithm that eliminates the yaw angle difference between optimal route and current route a track-keeping algorithm that tracks the optimal route among way-points and a turning-control algorithm that includes the generation of optimal turning routes and control method. The effectiveness of the proposed control algorithm is assured through computer simulation.

• Journal of the Korean Society of Industry Convergence
• /
• v.23 no.2_1
• /
• pp.149-161
• /
• 2020

We describe a new approach to implement of trajectory control and track record of articulated manipulator based on monitoring simulator for smart factory. The learning control algorithm was applied in implementation real-time control to provide enhanced motion control performance for robotic manipulators. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, or values of manipulator parameters and payload. Performance of the proposed controller is illustrated by simulation and experimental results for robot manipulator consisting of six joints at the joint space and Cartesian space.by monitoring simulator.

• Journal of the Korean Society for Railway
• /
• v.7 no.4
• /
• pp.291-295
• /
• 2004

The Track geometry measuring on High-speed railway is the most important subject for the track construction and track maintenance work. Also the measuring accuracy is so significant part because it provides principle data for the maintenance plan and the assesment of working quality and can control the train speed limitation. From this point of view, it is very important to verify for the track recording coach(EM120) in KNR. According to the result of spectrum analysis, the noise near 1m waveband was found on the track recording data from EM120. So, New filter has been applied to remove the noise form track recording data. and it makes possible to acquire resembling result to real track geometry.

• The Transactions of the Korean Institute of Electrical Engineers C
• /
• v.48 no.2
• /
• pp.153-160
• /
• 1999

Dual-stage servo system for super-high density HDD has the chances of being composed of the coarse actuator(VCM) for track-seeking control and the fine actuator(microactuator) for-following control in near future. This paper presents the concept design of dual-stage servo system and the track-following control using an electrostatic microactuator for super-high density HDD. The electrostatic microactuator is designed and fabricated by MEMS(micro-electro-mechanical system) process. Both the nonlinear plant(voltage/displacement-to-electrostatic force) and the linear plant(electrostatic force-to-displacement) of the microactuator are established. Inverse function of the nonlinear plant is employed for a feedforward nonlinear compensator design. And feedforward control effect of this compensator is shown by time-domain experiments. A track-following feedback controller is designed using the feedback nonlinear compensator which is derived from the feedforward nonlinear compensator. The track-following control experiment is done to show the control efficiency of the proposed control system. And, excellent track-following control performance(2.21kHz servo-bandwidth, 7.51dB gain margin, $50.98^{\circ}$phase margin) is achieved by the proposed control system.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.20 no.3
• /
• pp.279-286
• /
• 2010

In this paper, we provide a robust track-following controller design method for the stable coarse seek control. Due to the inaccurate velocity control during a coarse seek, the shake of fine actuator is generated and thus a gain-up track-following control is required to complete stably the coarse seek. To this end, a loop gain adjustment algorithm is introduced to estimate accurately the shake of fine actuator. A weighting function can be properly selected from a minimum tracking gain-up open-loop gain, calculated from the estimated shake quantity of fine actuator. A robust tracking gain-up controller is designed by considering a robust $H_{\infty}$ control problem using the weighting function. The proposed design method is applied to the coarse seek control system of an optical rewritable drive and is evaluated through the experimental results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.1
• /
• pp.10-21
• /
• 2003

During seek operation in disk drives, the recording head is moved toward desired track by seek servo controller and then is settled onto the center of the desired track by settling servo controller. If the head speed at the start of settling servo control is not slow, it may produce overshoot relative to the center of track and thus extend the settling time. The degradation in settling performance will be more severe as the track width becomes smaller for higher density of data storage. We design a new settling servo controller for minimizing settling time based on the pole-zero cancellation. In order to cancel slow poles in settling response, we apply discrete pulse signals to the system in addition to the state feedback control. For exact pole-zero cancellation, we consider the dynamics of power amplifier used for actuator current regulation and the effects of delay in control action. In addition, we present system parameter identification algerian for the robustness of our controller to system parameter variation. In order to demonstrate the practical use of our controller, we present experimental results obtained by using a commercially available disk drive.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.2
• /
• pp.162-169
• /
• 2016

Gyeong-bu railway line in Korea between Seoul and Cheon-an was built as two double tracks. A four-display signaling system, only for the metro line, was installed on the second double track so KTX and conventional trains can only operate on the first double track. This study suggests a method to allow KTX and conventional trains operated on the five-display signaling system to respond to accidents and track defects on the second double-track under the four-display signal system by means of problem analysis, calculation of breaking distances for KTX and conventional trains at each break mode, and improvement of the ATS system.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.27 no.7
• /
• pp.1193-1199
• /
• 2003

Maintaining track tension in tracked vehicles minimizes the excessive load on the tracks and prevents the peal-off of tracks from the road-wheel, and adequately guarantees the stable and improved driving of the tracked vehicles. However, the track tension cannot be easily measured due to the limitation in the sensor technology, harsh environment, etc. In this study, the track tension is estimated in realtime from the measurable signals of tracked vehicles and controlled based on a fuzzy logic controller. The proposed control system is implemented on tracked vehicles and its performance is evaluated under various driving conditions.

• Proceedings of the KSME Conference
• /
• 2003.04a
• /
• pp.780-785
• /
• 2003

Maintaining track tension in tracked vehicles minimizes the excessive load on the tracks and prevents the peal-off of tracks from the road-wheel, and adequately guarantees the stable and improved driving of the tracked vehicles. However, the track tension cannot be easily measured due to the limitation in the sensor technology, harsh environment, etc. In this study, the track tension is estimated in real-time from the measurable signals of tracked vehicles and controlled based on a fuzzy logic controller. The proposed control system is implemented on tracked vehicles and its performance is evaluated under various driving conditions.