• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.198-203
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• 2002

A fuzzy logic controller design technique is proposed to apply for the control of flexible system under irregular disturbance. The fuzzy rules of $\ulcorner$Mode Selecting Fuzzy Controller$\lrcorner$ are constructed using displacement, velocity information and modal characteristics of the system. The frequency information of flexible system is picked up from $\ulcorner$Mode Selecting Unit$\lrcorner$ based on Fast-Fourier transform algorithm. Experiment is conducted to verify the proposed theoretical approach, Piezo ceramic and laser accelerometer are used as actuator and sensor in the experiments respectively

• 조명전기설비학회논문지
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• 제27권7호
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• pp.95-100
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• 2013

In this paper, we propose an active controller for high-speed pantograph in order to improve the transient response. Electrical power is delivered from a catenary to the train via a pantograph and thus it is very important to regulate the contact force between catenary and pantograph. By regarding the catenary displacement as an unknown disturbance input and analyzing the frequency response from the disturbance to contract force. we present an active controller that utilizes the lead compensator and resonant controller. It is shown by the computer simulation that the substantial improvement in transient response can be achieved by the proposed controller.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.326.1-326
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• 2002

A fuzzy logic controller design technique is proposed to apply to the control of flexible system under irregular disturbance. The fuzzy rules of $\ulcorner$Mode Selecting Fuzzy Controller$\lrcorner$ are constructed using displacement, velocity information and modal characteristics of the system. The frequency information of flexible system is picked up from $\ulcorner$Mode Selecting Unit$\lrcorner$ based on Fast-Fourier transform algorithm. Experiment is conducted to verify the proposed theoretical approach. (omitted)

• Advances in aircraft and spacecraft science
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• 제6권5호
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• pp.371-389
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• 2019

The implementation of a robust $H_{\infty}$ Control, which is numerically efficient for uncertain nonlinear dynamics, on longitudinal and lateral autopilots is realised for a quarter scale Piper J3-Cub model accepted as an unmanned aerial vehicle (UAV) under the condition of sensor noise and disturbance effects. The stability and control coefficients of the UAV are evaluated through XFLR5 software, which utilises a vortex lattice method at a predefined flight condition. After that, the longitudinal trim point is computed, and the linearization process is performed at this trim point. The "${\mu}$-Synthesis"-based robust $H_{\infty}$ control algorithm for roll, pitch and yaw displacement autopilots are developed for both longitudinal and lateral linearised nonlinear dynamics. Controller performances, closed-loop frequency responses, nominal and perturbed system responses are obtained under the conditions of disturbance and sensor noise. The simulation results indicate that the proposed control scheme achieves robust performance and guarantees stability under exogenous disturbance and measurement noise effects and model uncertainty.

• 치과방사선
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• 제28권1호
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• pp.155-169
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• 1998

The purpose of this study was to prove the relationship between arthrographic and clinical features in temporomandibular joint disorders. In order to carry out this study, ninety-eight arthrographic examinations of temporomandibular joints were performed on eighty-two patients who had the temporomandibular joint disorders. As the arthrographic examination, the cases were classified in three groups, disk displacement with reduction, disk displacement without reduction, within normal limit. After this, the cases were clinically examined, and the results were compared and analyzed in each other group. The obtained results were as follows; 1. As the classification by arthrographic examination, three groups (disc displacement with reduction, disc displacement without reduction, within normal limit) were 41 ％, 54％, 5％ of total cases in this study, respectively. 2. The third decade(65％) was most frequent in this study. The average age of each group (disc displacement with reduction, disc displacement without reduction, within normal limit) was 24, 28, 21, and disc displacement without reduction group was higher than any other group. 3. In the chief complaint, pain was the most frequent in all three groups. Joint sound was also frequent in disc displacement with reduction group, but in disc displacement without reduction group, limitation of mouth opening was more frequent. 4. Of the various pain, the movement pain was most frequent ( 61 ％) in this study. In joint sound, click(63％) was the most frequent in disc displacement with reduction group, but sound history(42％) and no sound (31 ％) were more frequent in disc displacement without reduction group. 5. The average maximum opening of each group (disc displacement with reduction, disc displacement without reduction, within normal limit) was 44mm, 32.9mm, 44mm, and disc displacement without reduction group was less than any other group. 6. The masticatory disturbance of each group (disc displacement with reduction, disc displacement without reduction, within normal limit) was 53％, 79％, 40％, and the trauma history of each group was 50％, 40％,60％.

• 한국정밀공학회지
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• 제21권1호
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• pp.101-108
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.

• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.729-733
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• 1997

Due to the variety of disturbance, it is not ease to accomplish the in-process detection of weld line with non-contact sensor. To get around this difficulties problem develop an automatic seam tracking weld system, the reliable signal processing algorithm has been recommanded. In this research, laser displacement sensor is applied as a seam finder in the automatic tracking system. The sensor is controlled by a dc servo motor which is mounted at X-Y moving table. X-Y moving table manipulated by an ac servo motor controls the position and velocity of the welding torch. First, X-Y table moves to Y-axis to search the welding joint feature before starting the welding, and welding joint is from the scanning data and weighting factor for each other. Second, weld line is determined using proposed signal processing algorithm during welding process. Form the experimental results, we could see the possibility that laser displacement sensor with procesed algorithm can be used as a seam finder in welding process under the severe noise (spatter,arc light etc.) condition

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.272-276
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• 1996

This study deals with the speed control of an overcentered variable-displacement hydraulic motor on a constant pressure network, which is noted for its high system efficiency fast dynamic response and energy recovery capability. The speed control characteristics of the conventional cascade PI controller are largely affected by load-torque disturbances. To obtain robust speed control despite torque disturbances, the load torque is estimated by an observer based on a mathematical model and compensated for by a feedforward loop. It is shown by experiment that robust speed control may be obtained with the proposed controller. The experimental data agree fairly well with the theoretical analysis.

• 한국지반환경공학회 논문집
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• 제13권11호
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• pp.5-10
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• 2012

연약지반 내의 많은 콘크리트 전주가 외부의 힘에 의하여 파괴되어 왔다. 본 연구에서는 근가의 설치심도 및 근가의 개수를 변화시키면서 토압과 변위분석을 실시하여 근가가 콘크리트 전주의 안정성에 미치는 영향을 분석하였다. 근가의 깊이 3가지 중 1.5m 깊이에 설치하는 것이 적절한 것으로 보이며, 2.25m 깊이에 근가를 설치하면 과도한 굴착으로 인한 교란으로 변위가 크게 나타난다. 근가를 깊게 설치할수록 수동영역의 토압은 작아지고 주동토압은 커진다. 두 개의 근가를 설치하면 한 개의 근가를 설치할 때보다 전주의 상단의 변위는 43.8%, 지표에서는 55.6% 감소한다.