• International Journal of Automotive Technology
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• 제7권5호
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• pp.547-554
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• 2006

This paper is concerned with an optimal control suspension system using the preview information of road input based on a quarter car model. The main purpose of the control is to combine good vibration isolation characteristics with improved attitude control. The optimal control law is derived with the use of calculus of variation, consisting of three parts. The first part is a full state feedback term that includes integral control acting on the suspension deflection to ensure zero steady-state deflection in response to static body forces and ramp road inputs. The second part is a feed-forward term which compensates for the body forces when they can be detected, and the third part depends on previewed road input. The performance of the suspension is evaluated in terms of frequency domain characteristics and time responses to ramp road input and cornering forces. The effects of each part of the suspension controller on the system behavior are examined.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.101.5-101
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• 2001

A linear input/output data-based predictive control with integral action is developed. The control input is obtained directly from the input/output data in a single step. However, the state estimation in subspace identification gives a biased estimate and there is model mismatch when the controller is applied to a nonlinear process. To overcome such difficulties, we add integral action to a linear input/output data-based predictive controller by augmenting the integrated white noise disturbance model and use each of best linear unbiased estimation(BLUE) filter and Kalman filter as a stochastic observer for the unmeasured disturbance. When applied to a continuous styrene polymerization reactor the proposed controller demonstrates.

• Journal of Mechanical Science and Technology
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• 제17권12호
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• pp.1922-1927
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• 2003

Nonlinear normal mode (NNM) vibration, in a nonlinear dual mass Hamiltonian system, which has 6$\^$th/ order homogeneous polynomial as a nonlinear term, is studied in this paper. The existence, bifurcation, and the orbital stability of periodic motions are to be studied in the phase space. In order to find the analytic expression of the invariant curves in the Poincare Map, which is a mapping of a phase trajectory onto 2 dimensional surface in 4 dimensional phase space, Whittaker's Adelphic Integral, instead of the direct integration of the equations of motion or the Birkhoff-Gustavson (B-G) canonical transformation, is derived for small value of energy. It is revealed that the integral of motion by Adelphic Integral is essentially consistent with the one obtained from the B-G transformation method. The resulting expression of the invariant curves can be used for analyzing the behavior of NNM vibration in the Poincare Map.

• 대한토목학회논문집
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• 제29권6A호
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• pp.651-659
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• 2009

본 연구는 일체식 교대 교량의 파일-교대 연결부의 거동에 관한 것이다. 본 연구에서는 일체식 교대 교량 연결부의 강체거동을 위하여 교대에 매입된 파일(H형강)에 관통철근을 배치한 형태, 스터드 전단연결재를 설치한 형태의 두 가지의 파일-교대 연결부를 제안하였다. 제안된 파일-교대 연결부의 거동 평가를 위하여 제안된 연결부가 설치된 파일-교대 축소모형 시험체와 일체식 교량 설계지침에서 제시한 연결부가 설치된 파일-교대 축소모형 시험체를 제작하여 하중재하시험을 수행하였다. 하중재하시험 결과, 모든 시험체에서 탄성영역 내의 초기강성은 일반적인 일체식 교대 교량에 적용이 가능할 정도로 나타났다. 그러나 항복 이후 강성과 하중저항 성능, 균열진전양상, 회전 강성 및 지압강도 측면에서 비교한 결과, 본 연구에서 제안한 파일-교대 연결부 방식이 일체식 교대교량의 파일 연결부의 강체거동에 더욱 효과적인 것으로 평가되었다.

• 전자공학회논문지SC
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• 제41권1호
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• pp.9-16
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• 2004

본 논문에서는 특징점 기반 시각 구동 제어 시스템을 이용하여 파라미터 불확실성을 가지는 로봇 매니플레이터에 대한 강인 제어기를 제안한다. 시스템 내부 서부 루틴인 동력학 제어부에 적분 작용을 포함시켜 파라미터 변동에 의한 로봇 매니플레이터의 정상 상태 오차를 개선하기 위하여 시스템 내부 서부 루틴인 동력학 제어부에 적분 작용을 포함되도록 하였다. 이적분 작용은 이미지 평면상의 특징점 추정 오차도 개선시킨다. 폐루프 시스템의 안정도는 Lyapunov 기법에 의하여 해석한다. 5링크 2 자유도의 로봇에 적용한 컴퓨터 시뮬레이션 및 실험을 통하여 제안된 제어기법의 실용성을 보인다. .

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.89-91
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• 2005

In this paper, we propose a robust visual feedback controller with integral action for tracking control of n-link robot manipulators in the presence of constant bounded parametric uncertainties. The proposed control input has robustness to the parametric uncertainty and reduces tracking error in the steady-state. The stability of the closed-loop system is shown by Lyapunov method. The effectiveness of the proposed method is shown by simulation results on the 5-link robot manipulators with two degree of freedom.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 추계학술대회논문집 II
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• pp.799-804
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• 2001

Nonlinear normal mode (NNM) vibration, in a nonlinear dual mass Hamiltonian system, which has 6th order homogeneous polynomial as a nonlinear term, is studied in this paper. The existence, bifurcation, and the orbital stability of periodic motions are to be studied in the phase space. In order to find the analytic expression of the invariant curves in the Poincare Map, which is a mapping of a phase trajectory onto 2 dimensional surface in 4 dimensional phase space, Whittaker's Adelphic Integral, instead of the direct integration of the equations of motion or the Birkhotf-Gustavson (B-G) canonical transformation, is derived for small value of energy. It is revealed that the integral of motion by Adelphic Integral is essentially consistent with the one obtained from the B-G transformation method. The resulting expression of the invariant curves can be used for analyzing the behavior of NNM vibration in the Poincare Map.

• 대한수학회지
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• 제38권2호
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• pp.275-281
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• 2001

The trajectory of a classical dynamics is determined by the least action principle. As soon as we come to quantum dynamics, we have to consider all possible trajectories which are proposed to be a sum of the classical trajectory and Brownian fluctuation. Thus, the action involves the square of the derivative B(t) (white noise) of a Brownian motion B(t). The square is a typical example of a generalized white noise functional. The Feynman propagator should therefore be an average of a certain generalized white noise functional. This idea can be applied to a large class of dynamics with various kinds of Lagrangians.

• 한국시스템다이내믹스연구
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• 제15권4호
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• pp.129-159
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• 2014

This Study discuss exploring normative-prescriptive factors after the themes on Organizational learning categorize two descriptive/explanatory-perspectives, prescriptive/normative dimension. The former would contain information processing model, theory of action, organizing in organization, while Senge's suggestion on Learning Organization may compose the latter. Each perspective is reconstructed and reinterpreted into the causal mapping relationship founded on system thinking and SD. Underlying on the former try to discovery validities of the latter. But this study only put forward the integral-dynamic model of organizational learning without empirical simulation.

• 동력기계공학회지
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• 제4권3호
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• pp.62-71
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• 2000

A mathematical modeling for a magnetic levitation system is proposed using the Taylor series expansion of differential function for obtaining linearity. It is confirmed that this kind of linear approximation method can be used to the modeling of a magnetic levitation system. The two-degree-of-freedom optimal servo system for a constant reference signal is proposed using the LQ optimization technique. An additional state feedback is introduced at the output of the integrator to cancel the integral action for reference signal if there is no modeling error of the plant and no disturbance input to the plant. When the modeling error or the disturbance input exists, the integral effect appears. The system has a free parameter which can b used to tune the effect of the integral compensation.