• 한국산학기술학회논문지
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• 제17권1호
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• pp.15-20
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• 2016

기존의 다중 모듈러스 기반 자기복원 등화 유형은 등화 초기에 적용되지 못하고 정상상태 성능 개선에 활용되었다. 본 논문에서는 다중 모듈러스를 원하는 응답으로 하는 유형의 자기복원 등화에서, 오차를 증강하여 오차의 역동성을 확장함으로써 초기 수렴 성능을 개선하고, 그 특성을 분석하였다. 제안 방법에서 오차 증강은 등화기 출력에 대한 심볼 판정에 비례하여 이루어진다. 아울러 제안 방법은 오차 역동성의 확장으로 인한 초기 수렴 기능을 갖기 때문에, 초기 수렴속도와 정상상태 오차 레벨에서 우수한 성능을 보인다. 특히 제안 방법은 등화의 전 과정을 하나의 알고리즘으로 진행하므로 기존의 다른 동작 모드로의 전환이나 선택 방법, 또는 다른 알고리즘과의 동시 동작 등이 불필요하다. 다중경로 전파와 부가 잡음이 있는 채널 조건하에서 이루어진 고차 신호점에 대한 자기복원 등화의 성능 분석 시뮬레이션을 통해 제안 방법의 유용성을 검증하였다.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2004년도 추계학술발표회 논문집
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• pp.117-121
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• 2004

In this paper, the error compensation method of the low-cost IMU is proposed. In general, the position and attitude error calculated by accelerometers and gyros grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound accelerometer mixing algorithm and the heading angle can be aided by single antenna GPS velocity. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated and dynamics position determination by Attitude Heading Reference System with Micro Electro Mechanical System for a basis

• 대기
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• 제20권4호
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• pp.399-414
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• 2010

Sand and dust storm in East Asia, so called Asian dust, is a seasonal meteorological phenomenon. Mostly in spring, dust particles blown into atmosphere in the arid area over northern China desert and Manchuria are transported to East Asia by prevailing flows. An Asian dust event occurred on 6-8 May 2007 is chosen to investigate how sensitive the Asian dust transport forecast to the initial condition uncertainties and to interpret the characteristics of sensitivity structures from the viewpoint of dynamics and predictability. To investigate the forecast sensitivities to the initial condition, adjoint sensitivities that calculate gradient of the forecast aspect (i.e., response function) with respect to the initial condition are used. The forecast aspects relevant to Asian dust transports are dry energy forecast error and lower tropospheric pressure forecast error. The results show that the sensitive regions for the dry energy forecast error and the lower tropospheric pressure forecast error are initially located in the vicinity of the trough and then propagate eastward as the surface low system moves eastward. The vertical structures of the adjoint sensitivities for the dry energy forecast error are upshear tilted structures, which are typical adjoint sensitivity structures for extratropical cyclones. Energy distribution of singular vectors also show very similar structures with the adjoint sensitivities for the dry energy forecast error. The adjoint sensitivities of the lower tropospheric pressure forecast error with respect to the relative vorticity show that the accurate forecast of the trough (or relative vorticity) location and intensity is essential to have better forecasts of the Asian dust event. Forecast error for the atmospheric circulation during the dust event is reduced 62.8% by extracting properly weighted adjoint sensitivity perturbations from the initial state. Linearity assumption holds generally well for this case. Dynamics of the Asian dust transport is closely associated with predictability of it, and the improvement in the overall forecast by the adjoint sensitivity perturbations implies that adjoint sensitivities would be beneficial in improving the forecast of Asian dust events.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.139-142
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• 1997

In this paper, a robust controller is proposed to achieve an accurate tracking for an uncertain nonlinear plant with actuator dynamics. The extent of parameter uncertainty can be quantified by using linear parameterization technique. A switching controller is proposed to guarantee the global asymptotic stability of the plant. In order to eliminate the chattering caused by the switching controller, a smoothing controller is designed using the boundary layer technique around the sliding surface and guarantees the uniform ultimate boundedness of the tracking error.

• 대한전기학회논문지
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• 제36권9호
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• pp.670-677
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• 1987

The robustness and stability properties for a model reference adaptive control system with plant uncertainty are considered in this paper, using input-output stability theory. An error model for a typical adaptive control structure is extended to unmodelled dynamics in the plant model and then, the strictly positive real condition for global stability is examined. In general, since this condition can be easily violated due to unmodelled dynamics, a modified compensator which can be guaranteed Hev e SPR is introduced in the plant model and the effectiveness for the given structure is also given.

• 한국기계가공학회지
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• 제13권5호
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• pp.90-97
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• 2014

This paper presents a simplified dynamics model, dynamics simulations, and computed torque control experiments of the Delta high-speed parallel robot. Using the typical Newton-Euler method, a simplified but accurate dynamics model with practical assumptions is derived. Accuracy and fast calculations of the dynamics are essential in the computed torque control for high-speed applications. It was found that the simplified dynamics equation is in very god agreement with the ADAMS model, and the calculation time of the inverse kinematics and inverse dynamics is about 0.04 msec. From the dynamics simulations, the cycle trajectory along the y-axis requires less peak motor torque and a lower angular velocity and less power than that along the x-axis. The computed torque control scheme can reduce the position error by half as compared to a PD control scheme. Finally, the developed Delta parallel robot prototype, half the size of the ABB Flexpicker robot, can achieve a cycle time of 0.43 sec with a 1.0kg payload.

• 한국자동차공학회논문집
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• 제5권1호
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• pp.69-78
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• 1997

Main sources of the vibration in gear driving system are transmission error and backlash. Transmission error is the difference of the rotation between driving and driven gear due to tooth deformation and profile error. Vibro-impacts induced by backlash between meshing gears lead to excessive vibration and noise in many geared rotation systems. Nonlinear dynamic characteristics of the gear driving system due to transmi- ssion error and backlash are investigated. Transmission error is calculated for spur gear. Nonlinear equation of motion for the gear driving system is developed with the calculated transmission error and backlash. Numerical analysis of the equation and the experimental results show the existence of meshing frequency, superharmonic compon- ents. Instability of the gear driving motion is found on the basis of Mathieu equation. Rattle vibration due to backlash is also discussed on the basis if nonlinear jump phenomenon.

• 한국산업융합학회 논문집
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• 제22권4호
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• pp.435-445
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• 2019

Ball screw drives are widely used in industry, and many studies have been devoted on precise, fast and robust control of ball screw drives. In this study, a novel position control algorithm for ball screw drives is proposed, which consist of a PD controller, a friction feedforward and a disturbance observer. The dynamics and the position error of such controller are analyzed to establish an error model, which can be used to predict the resulting position error of the given desired trajectory. Using the proposed error model, the desired trajectory can be modified so that the predicted position error can be compensated in a feedforward manner. The proposed algorithm does not require the model of the system for the error prediction, and thus can be easily applied to conventional control systems. The performance of the system is verified through simulations and experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.649-653
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• 1988

The inertial measurement units in Strapdown System are characterized by the fact that sensors directly mounted to the vehicle frame. So the sensors are subjected to the translatory and rotation dynamics of the vehicle. The sensor outputs involve many error terms. We must compensate the error terms for accuracy improvement. The method which identify the error parameter is studied and suggested.

• Journal of applied mathematics & informatics
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• 제18권1_2호
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• pp.113-126
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• 2005

The Cahn-Hilliard equation is modeled to describe the dynamics of phase separation in glass and polymer systems. A priori error estimates for the Cahn-Hilliard equation have been studied by the authors. In order to control accuracy of approximate solutions, a posteriori error estimation of the Cahn-Hilliard equation is obtained by discontinuous Galerkin method.