• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.8
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• pp.1217-1223
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• 2015

In this paper, we study the problem of torque ripple minimization in Brushless DC Motors (BLDC) and proposes a disturbance observer (DOB) based controller in order to efficiently reduce the torque ripple. In the DOB based control system, an equivalent disturbance (plant disturbance and effect of modelling error) is cancelled by its estimate. When the DOB controller is applied to BLDC motors, the effect of inverter switching is considered as an equivalent disturbance and to be cancelled by the DOB controller. Through computer simulations, it is shown that the performance of the proposed DOB controller is superior to that of the conventional PI controller. In the case where the numerical values of resistance and inductance are not known exactly, it is shown that the proposed DOB controller achieves better performance than the PI controller.

• Proceedings of the Korean Geotechical Society Conference
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• 2008.03a
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• pp.134-141
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• 2008

To evaluate the engineering properties of soil, the laboratory test always is carried out using samples obtained from the field. There are many studies to estimate the effect of sampling disturbance. The objective of this study appraises the disturbance using the shear wave velocity. The new shelby tube which three transducers are installed every 20cm interval is used. To laboratory tests, the large-scale consolidometer (calibration chamber) is used. During 1cm penetration, the shear wave velocity is measured by every transducer. The initial sampling disturbance is assessed through the velocity difference from bottom to right upside transducer. After finishing the sampling, the velocity is still measured every time to assess the soil disturbance in shelby tube itself. Through the measured velocity, the effect of disturbance is appraised. This study suggests that the sampling disturbance of shelby tube is effectively evaluated using shear wave velocity.

• Proceedings of the Korean Geotechical Society Conference
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• 2003.03a
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• pp.325-332
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• 2003

In general, soil characteristics are estimated through the sample gathered by field boring without considering sample disturbance. However, soil characteristics must be changed by the degree of sample disturbance. Therefore it be need to estimate the soil characteristic considering sample disturbance which can be occurred by the change of stress condition, sampling technique and handling method. On this study, we analyzed the sample disturbance by using the methods of volume change, residual effective stress, elastic modulus and the curve of consolidation tests. In order to estimate the relationship between sample disturbance and soil characteristics, we used the piston sample and the block sample. As the results, it should be considered in design that the disturbance of the block sample, which affects the strength and compression properties of clay, is smaller than the disturbance of piston sample.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.811-817
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• 2015

In this paper, we present a new control structure which is obtained by adding an appropriately designed filter to a conventional disturbance observer. The proposed controlled system preserves advantages of a system with the conventional disturbance observer; disturbance rejection and nominal performance recovery. In particular, by embedding the filter, the disturbance rejection performance is enhanced compared with that of the classical disturbance observer-based controlled system. Moreover, we suggest a condition for the robust internal stability of the considered system in this paper. Simulation results regarding an effect of relatively high-frequency disturbance on hard disk drive are also presented.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1103-1106
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• 1996

Disturbance Accommodating Attitude control logic for 3-axis stabilized spacecraft is designed and compared with PIID control logic. PID controller provide the zero steady error for constant disturbances. PIID controller detect and cancel disturbances upto the ramp input. PID control logic is designed as the main control logic. We designed the disturbance observer to detect the effect of disturbance using the sinusoidal function. The detected disturbance are compensated by the additional control logic. The comparison simulation is conducted between PIID and PIID with DAC. The simulation results show that PIID with DAC shows the better attitude pointing accuracy.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.388-391
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• 2003

Disturbance observer(DOB) is effective to enhance the performance of system in the presence of disturbances. Various types of disturbance observer have been proposed to improve sensitivity function of system. However, it has been observed that current DOBs tend to bring poor transient response due to cross-couplings. This paper proposes a new type of disturbance observer to reduce effect of cross-couplings and provide simpler structure than Dual DOB. Finally, we verify the performance of the proposed DOB through numerical simulations.

• Journal of Forest and Environmental Science
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• v.31 no.1
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• pp.7-13
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• 2015

Forest disturbance sometime considered as a tool of management as it believed that mid level disturbance constructs better micro-climatic conditions which ultimately boost up the plant diversity. The effect of different levels of disturbance on species composition and regeneration is very important. Present attempt was carried out in a temperate evergreen oak forest which was under various degree of disturbance. The study area is one of the large ranges of oak forest in Garhwal Himalaya and compensating various types of daily needs of local people. On the basis of IVI values Quercus leucotrichophora holds first position in all the disturbance zones whereas Myrica esculenta upgraded it's rank in highly disturbed zone and showed less impacted species by disturbance. Berberis aristata and Eupatorium adenophorum in shrub layer and Anaphalis adnata and Bidens pilosa in herb layer were found as disturbance friendly species because they attained higher rank in highly disturbed zone whereas Caryopteris foetida was found disturbance-sensitive in shrub layer. The banj oak regenerated well under mid disturbance as compared to no and high degree of disturbance and a sharp downfall in the species diversity was recorded with increasing magnitude of disturbance. Density-diameter curves showed a reverse trend of lower density in higher girth classes. The results of the study should be useful for the forest management strategies.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.2
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• pp.125-135
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• 2008

Backlash in the actuator is one of the most important nonlinearities that limit the performance of speed and position control of mechanical systems. In this paper, we propose disturbance observers in order to estimate the effect of nonlinearities and cancel them subsequently. As a result the disturbance observers make the nonlinear system behave linearly. And finally we show that the disturbance observers guarantee the system robustness and the performance to reject the effect of backlash in the face of parameter uncertainties.

• Journal of ILASS-Korea
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• v.3 no.2
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• pp.34-41
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• 1998

The present experimental study investigates the effect of an initial disturbance on the breakup mechanism of a liquid column. With varying the maginitude of the inital disturbance, we measure the surface wave of liquid column with adopting laser shadow method and analyze the growth rate of liquid column and breakup frequency. The experimental results show that thebreakup characteristics of liquid column is significantly influenced by the frequency of the initial disturbance. We concluded that the most uniform droplet occurs when the frequency of initial disturbance coincides with the natural frequency of the liquid column.

• The Journal of Korean Physical Therapy
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• v.12 no.1
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• pp.65-71
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• 2000

This study investigated the effect of anticipatory postural adjustment on balance performance in postural disturbance. Any action performed by standing subject is generally accompanied by compensatory postural activities, which reduce or abolish the postural disturbance generated by the movement and keep the subjects' center of gravity within the supporting base. These Postural activities arc triggered by either anticipatory and feedback postural control. We studied the difference of anticipatory and feedback postural control in postural disturbance. The subjects were standing on a foot plate with eyes closed, holding a lead of $5\%$ of their own body weight in their hands. The condition of anticipatory postural adjustment was applied voluntarily releases the a load. The condition of feedback postural control was applied that the load was unpredictably removed. We concluded that anticipatory postural adjustment becomes more efficient to postural performance in postural disturbance.