• International Journal of Naval Architecture and Ocean Engineering
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• 제10권3호
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• pp.282-293
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• 2018

This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.104.4-104
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• 2002

$\textbullet$ Contents 1 : PD control of an elastic joint robot $\textbullet$ Contents 2 Dynamic output feedback law without velocity measurements $\textbullet$ Contents 3 : Robust analysis for parameter uncertainties of the robot system $\textbullet$ Contents 4 : Simulation studies with a three joint robot system $\textbullet$ Contents 5 : Performance comparison with an another control law

• 한국소음진동공학회논문집
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• 제20권5호
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• pp.477-485
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• 2010

In this study, we suggested several approaches to evaluate the collision acceleration of a carbody under the article 16 of the Korean rolling stock safety regulations. There are various methods to evaluate the rigid body accelerations such as the displacement comparison method by double integration of filtered acceleration data, the velocity comparison method by direct integration of filtered acceleration data, and the analysis method of a velocity-time curve. We compared these methods one another using the 1D dynamic simulation model of Korean high-speed EMU composed of nonlinear springs or bars, dampers, and masses. From the simulation results, the velocity-time curve analysis method and the displacement comparison method are recommended to filter high frequency oscillations and evaluate the maximum and average accelerations of a carbody after a train collision.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2009년도 춘계학술대회 논문집 특별세미나,특별/일반세션
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• pp.233-237
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• 2009

In this study, we suggest that several approaches to evaluate the collision acceleration value of a car in the article 35 and the guideline 16 of Korean rolling stock safety regulation. There are various methods to evaluate collision acceleration such as; a displacement comparison method by the double integration of filtered acceleration data, a velocity comparison method by the integration of filtered acceleration data, an analysis method of time-velocity curve, or a differential method of time-velocity curve. We compared these methods one another using 1D dynamic simulation model composed of nonlinear dampers, springs and bars, and masses. Also, we applied these methods to a hybrid model, which is made of 3D shell element model and 2D collision dynamics model, in order to evaluate whether 1D force-displacement curve modeling for energy absorbing structures have an effect on the collision acceleration levels or not.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2307-2309
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• 2002

A simulator had been developed and will be used for reliability verification on turbine control programs for boiler feed pump in power plant prior to its actual operation in field. A mathematical model on thermal dynamics pertaining to prime mover steam turbine and pump was realized and included in this simulator. Also, many design and operating data acquired from fields were utilized in order to decide mechanical and thermal dynamic characteristics such as friction loss windage loss and inertia. A user can decide closing or opening velocity of steam stop valves and steam regulation valves. This simulator is able to generate steam pressure, turbine speed, pump power.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2578-2580
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• 2000

A siumlator had been developed and used for reliability verification on medium size steam turbine control programs prior to its actual operation in field. A mathematical model on thermal dynamics pertaining to prime mover steam turbine and electrical generator was realized and included in this simulator. Also, many operating data acquired from fields was utilized in order to decide mechanical and thermal dynamic characteristics such as friction loss, windage loss and inertia. A user can decide closing or opening velocity of steam stop valve and steam regulation valve. This simulator is able to generate steam pressure, turbine speed, electrical power, and power system frequency.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2138-2140
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• 2001

A siumlator had been developed and will be used for reliability verification on large steam turbine control programs prior to its actual operation in field. A mathematical model on thermal dynamics pertaining to prime mover steam turbine and electrical generator was realized and included in this simulator. Also, many operating data acquired from fields was utilized in order to decide mechanical and thermal dynamic characteristics such as friction loss, windage loss and inertia. A user can decide closing or opening velocity of steam stop valves and steam regulation valves. This simulator is able to generate steam pressure, turbine speed, electrical power, and power system frequency.

• 대한토목학회논문집
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• 제30권3A호
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• pp.211-219
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• 2010

고속철도교량의 설계개념은 정적하중에 따른 충격계수를 고려하여 기존 교량 구조물의 강성을 증가시키기 위한 방안을 적용하고 있으며, 전반적인 구조설계 과정은 선진 외국기술에 의존하고 있는 실정이다. 그러나 고속철도(Korea Train eXpress: KTX)의 긴 연장(380 m)과 고속(300 km/h) 주행은 공진현상에 상당한 영향을 미치기 때문에 고속철도교량의 동적증폭계수(DAF) 및 동적성능 평가는 상세한 검토가 필수적으로 수행되어야 할 것이다. 따라서 이 연구에서는 전형적인 PSC 박스 거더 고속철도교량을 대상으로 동적성능을 효율적으로 검토하고자 하며, 합리적인 구조설계를 위한 기초자료를 제시하고자 한다. 이를 위해, 기존문헌을 토대로 KTX의 하중선도를 고려하여 정적해석을 수행하였다. 또한 다양한 해석변수를 고려하여 KTX의 이동하중을 시계열하중으로 변환하였으며, 변환된 시계열하중을 이용하여 시간이력해석을 합리적으로 평가하였다. 이때, 시계열하중을 산정하기 위한 변수는 KTX의 하중재하 절점간격, 시간증분 및 속도변화를 고려하였다. FE해석 결과를 바탕으로 PSC 박스 거더 고속철도교량의 동적성능을 체계적으로 검토하였으며, 국내외 관련규정에 따라 구조안전성을 정량적으로 평가하였다.

• 한국정밀공학회지
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• 제25권10호
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• pp.122-129
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• 2008

This paper deals with precise positioning of a high-speed positioning stage without inducing residual vibration by using an input shaping technique. Input shaping is well known to be a very effective tool for suppressing the residual vibration of flexible structures. However, the ordinary input shaping for positioning stages is designated mostly for velocity regulation, not for the residual vibration at the target position. The main difficulties in implementing input shaping along with precise positioning are the time delay caused by the servo system characteristics and the s-curve feature often employed in some motor controllers. This paper analyzes the dynamic responses of a single-mode-dominate stage system subjected to input shaping. A theoretical model is developed io investigate the nature of system. In order to overcome the difficulty, this paper proposes an improved input shaper based on modified command profile generation. The proposed method is proved effective through experiments and simulations.

• 한국전산구조공학회논문집
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• 제23권1호
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• pp.45-52
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• 2010

본 논문에서는 새로운 차량의 도입으로 건설되는 신형식 교량의 동적거동을 확인하기 위해 상용 유한요소 프로그램을 이용하여 해석을 실시하여 충격계수를 산정하였으며, 국내뿐만 아니라 각국에서 적용되고 있는 충격계수에 관한 설계기준을 조사하여 비교 검토하였다. 연구에서 제시되어진 교량형식은 파이프트러스 형식으로 각각 34m, 44m, 54m로 모델링하였으며 각각의 지간길이에 따른 충격계수의 영향을 산정하였다. 차량모델은 실제 교량 위를 통과하는 2축과 3축 저상굴절차량과 박영석(1997)이 제시한 147kN 덤프트럭 모델을 적용하였으며, 각 차량별로 10km/h~100km/h까지의 속도대역에 따른 충격계수를 산정하여 이에 따른 영향을 검토하였다. 또한 차량 및 지간길이에 따라 산정되어진 지간 중앙에서의 충격계수를 바탕으로 우리나라 및 외국의 설계규정과 비교 검토하였다.