• Proceedings of the KSME Conference
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• 2000.11a
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• pp.576-583
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• 2000

A robust position control using a sliding mode controller is adopted for the stable dynamic walking of the biped. For the biped robot that is modeled with 14 degrees of freedom rigid bodies using the method of the multibody dynamics, the joint angles for simulation are obtained by the velocity transformation matrix using the given Cartesian foot and trunk trajectories. Hertz force model and Hysteresis damping element which is used in explanation of the energy dissipation during contact with ground are used for modeling of the ground reactions during the simulation. By the obtained that forces which contains highly confused noise elements and the system modeling uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies, the biped system will be unstable. For that problems, we are adopting a nonlinear robust control using a sliding mode controller. Under the assumption that the esimation error on the unknown parameters is bounded by a given function, that controller provides a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.476-481
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• 2004

This paper proposes the modeling scheme of the Miniature Universal Testing Machine (MUTM) composed of 36 thin-beam-type bimorph PZTs and the control algorithm to minimize the residual vibration of the MUTM in the dynamic testing of specimens. In the operation of the MUTM, hysteresis, residual displacement and vibration of it are major issues. From the analysis of the MUTM behaviors, the hysteresis is described by the curving fitting scheme with the function of an input voltage. The dynamic characteristics of the MUTM are identified by the frequency domain modeling technique base on the experimental data. The interest bandwidth is focused on 125-315HZ for effective modeling and control. For the robust vibration control of the MUTM, the sliding mode control and the Kalman filter as observer are proposed. The paper also proposes the best input signal type to operate the MUTM effectively. The feasibility of the proposed modeling scheme and control algorithm are tested and verified experimentally.

• Journal of The Korean Society of Agricultural Engineers
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• v.54 no.5
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• pp.129-139
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• 2012

Accurate modeling rainfall induced landslide and slope stability requires a detailed knowledge of the distribution of material strength characteristics and suction distribution. However, material properties obtained from the drying cycle are still used for infiltration analysis in many cases, even though material properties of wetting cycle are quite different from those of drying cycle due to hydraulic hysteresis and air occlusion. Therefore, the selection of proper material properties such as soil-water retention curve (SWRC) and the hydraulic conductivity function (HCF) reflecting characteristics of wetting cycle and air occlusion is an essential prerequisite in order to simulate the infiltration phenomena and to predict the suction and water content distribution in unsaturated soils. It is concluded that the simulation of infiltration with material properties from the drying cycle did not reasonably match with experimental outputs. Further discussion is made on how to describe the material properties considering air occlusion during wetting cycle over the entire suction range in order to simulate infiltration phenomena.

• Journal of Korean Tunnelling and Underground Space Association
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• v.12 no.5
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• pp.399-405
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• 2010

The accumulated displacements and fatigues of rock are increased by the stress-hysteresis, induced from repeated frost-thawing. Also the shear strength is decreased by them continuously. The stress-hysteresis is affected by the atmospheric temperature changes, whose behavior is visco-elasticity, usually. Therefore, to do ideal body analysis, Kelvin model could be used to analyze the frost-thawing behavior in winter. In general, rock slope failure occurs by the deterioration of rocks, which is caused by the repetition of freezing-thawing process. In order to keep the safety of such rock mass structures the deterioration process of rock needs to be described quantitatively using some meaningful parameters. In this work, the deterioration process in freezing-thawing cycle of tuff, which is a famous soft porous rock, is investigated through laboratory tests and successfully described as a differential equation for the change of porosity. And then, the deterioration of the mechanical properties of rock, such as Young's modulus and uniaxial compressive strength, are quantitatively described as a function of the porosity.

• Transactions on Electrical and Electronic Materials
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• v.15 no.5
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• pp.253-256
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• 2014

$Pb(Zr_{0.52}Ti_{0.48})O_3$ thin films of $1.5{\mu}m$ thickness were grown on $Pt/Ti/Gd_3Ga_5O_{12}$ substrate by RF magnetron sputtering at annealing temperatures ranging from $550^{\circ}C$ to $700^{\circ}C$. We evaluated the residual stress, by using a William-Hall plot, as a function of the annealing temperatures of PZT thin film with a constant thickness. As a result, the residual stresses of PZT thin film of $1.5{\mu}m$ thickness were changed by varying the annealing temperature. Also, we measured the hysteresis characteristic of PZT thin films of $1.5{\mu}m$ thickness to evaluate for application of an optoelectronic device.

• Journal of Electrical Engineering and Technology
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• v.8 no.6
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• pp.1409-1414
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• 2013

A new calculation method for iron loss coefficients is proposed by using the Steinmetz equation from Epstein data. The hysteresis loss must have linear characteristic according to the frequency. However, the existing iron loss coefficients are defined by formula of frequency. In this case, the hysteresis loss has non-linear characteristics by frequency. So, in this paper, the iron loss coefficients were defined by a function of the magnetic flux density, and the iron loss calculation is applied for Interior Permanent Magnet Synchronous Motor(IPMSM) of 600(W) and 200(W). The iron loss calculation results and the experimental results are compared according to the various materials.

• Journal of the Korean Ceramic Society
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• v.28 no.4
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• pp.297-304
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• 1991

Dielectric hysteresis characteristics of Pb(Zr0.52Ti0.48)O3 ceramics have been investigated as a function of the amount of MnO2 addition ranged from 0.0 wt% in Pb(Zr0.52Ti0.48)O3 ceramics enhanced the dielectric strength, aging effect and remanent polarization, while reduced the coercive field. These results could be explained by the effect of Mn-Vo association due to the substitution of Mn for the (Zr, Ti) site in PZT.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.5
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• pp.541-546
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• 2010

When a flexible arm is rotated by a motor about an joint axis, transverse vibration may occur. The motor torque should be controlled in such a way that the moter rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested at the end of rotation. In this paper, the dynamic model of flexible robot arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Nonlinear control with hysteresis deadzone using the sliding sector theory with continued input function in the sector is proposed.

• Journal of Electrical Engineering and Technology
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• v.6 no.5
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• pp.647-657
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• 2011

The present paper proposes a sliding mode control with fixed switching frequency for three-phase three-leg voltage source inverter based four-wire shunt active power filter. The aim is to improve phase current waveform, neutral current mitigation, and reactive power compensation in electric power distribution system. The performed sliding mode for active filter current control is formulated using elementary differential geometry. The discrete control vector is deduced from the sliding surface accessibility using the Lyapunov stability. The problem of the switching frequency is addressed by considering hysteresis comparators for the switched signals generation. Through this method, a variable hysteresis band has been established as a function of the sliding mode equivalent control and a predefined switching frequency in order to keep this band constant. The proposed control has been verified with computer simulation which showed satisfactory results.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.4
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• pp.511-519
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• 2010

This paper presents the modeling and validation of a pile-driver breech fatigue testing system model to replicate actual high pressure in a large caliber gun barrel. A hysteresis damping function was incorporated in the nonlinear impact force model. Test of real pile-driver breech fatigue testing system had been performed for model validation. Comparison of the experimental result and model simulation during impact were made. Numerical studies were performed to evaluate how the actual chamber pressure pattern in the live firing of gun barrel was affected by parameters' variation. Some of the parameters simulated included input velocity, damping coefficient and stiffness. As a result, a variety of actual chamber pressure pattern could be reproduced and controlled through current simulation model.