• 제어로봇시스템학회논문지
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• 제20권7호
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• pp.695-700
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• 2014

In this paper, we utilize the CMG's momentum bias to control the roll/pitch attitude of the Quad-rotor. While the previous control approaches have used the thrust control approach, we design and add a new momentum controller (using CMG) in order to improve the transient response over the existing methods. The focal point of this paper is the design of a controller for a Quad-rotor's attitude using CMG. This leads to other tasks such as an identification of the model's parameters and mathematical nonlinear modeling. Then, the previous thrust controller is designed based on the linearized model. Finally, the overall system with our designed controller is implemented and tested in real time to show that the Quad-rotor is kept in a good balanced position faster than the traditional thrust-only control approach.

• 소음진동
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• 제8권3호
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• pp.533-541
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• 1998

Recently, optical disk drives are increasingly demanded to have higher speed as well as high information density, especially for applications like CD ROM drives. To this end, improvement of their optical pickup structure and control is recognized the very challenging issue. In this paper, the pickup is first analytically modelled in a plane to describe its coupled auto-focusing and auto-tracking motions. Subsequently, the model is linearized and combined with actuator dynamics for the auto-focusing system. With its unmeasurable parameters being estimated based on experimental data, an approximate I-DOF linear model is obtained neglecting the coupling term. To design the high speed and robust positional servo controller realistic design specifications are addressed, and H control method is employed based on the approximate model. Finally, taking the pickup in a commerical high speed CD ROM drive as an example performance of the designed controller is verified through realtime experiments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.369-373
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• 1992

Force control of a planar two-link structurally flexible robotic manipulator is considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is pressented toobtain the linearized equations of motion in Cartesian space for use in designing the control system. The approachto solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulatro along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is explotied to design a robust feedback control system that can handle modeling errors and sensor noise, and operates on Cartesian space trajectory errors. The Lqg/LTR compenstaor together with a feedforward ollp is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1773-1777
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• 2008

The proper orthogonal decomposition(POD) is used to the modal analysis of microcantilever of dynamic mode atomic force microscopy(AFM). The proper orthogonal modes(POM) are extracted from vibrating signals of microcantilever when it resonates and taps the sample. We present recent ideas based on POD and detailed experiments that yield new perspectives into the microscale structures. The linearized modeling technique based on POD is very useful to show the principal characteristics of the complex dynamic responses.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2003년도 추계종합학술대회
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• pp.315-319
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• 2003

본 논문은 Custom Power의 입력 전압 Sag 보상을 위해 사용되는 PWM Boost AC-AC 컨버터의 정적 특성 및 동적 특성의 모델링 및 해석을 다룬다. 특히 회로 DQ 변환 기법을 사용하여 기본파 영역에서 시스템의 특성을 모두 포함하는 등가회로를 구하고, 전압이득과 입력역률에 대한 해석적인 결과를 도출한다. 또한, 제어의 관점에서 유용한 일정한 동작점 하에서의 선형화된 상태방정식을 구한다. 끝으로, 시뮬레이션을 통하여 제안된 등가회로 모델링과 해석이 타당함을 확인하였다.

• 한국소음진동공학회논문집
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• 제20권4호
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• pp.414-421
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• 2010

The proper orthogonal decomposition(POD) is used to the vibration analysis of microcantilever in tapping mode atomic force microscopy(AFM). The proper orthogonal modes (POM) are extracted from vibrating signals of microcantilever when it resonates and taps the sample. We present recent ideas based on POD and detailed experiments that yield new perspectives into the microscale structures such as the tapping cantilever. The linearized modeling technique based on POD is very useful to show the principal characteristics of the complex dynamic responses of the AFM microcantilever.

• 동력기계공학회지
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• 제12권1호
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• pp.72-79
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• 2008

This paper designs a looper-tension controller for mass-flow stabilization in hot strip finishing mills. By Newton's 2nd law and Hooke's law, nonlinear dynamic equations on the looper-tension system are firstly derived, and linearized by a linearization algorithm using a Taylor's series expansion. Moreover, a tension calculation model is obtained from the nonlinear dynamic equations which is called as a soft sensor of strip tension between two neighboring stands. Next, a looper-tension servo controller is designed by an ILQ(Inverse Linear Quadratic optimal control) algorithm, and it is combined with a minimal disturbance observer which to attenuate speed disturbances by AGC and operator interventions, etc.. Finally, it is shown from by a computer simulation that the proposed ILQ controller with a disturbance observer is very effective in stabilizing the strip mass-flow under some disturbances, moreover it has a good command following performance.

• 제어로봇시스템학회논문지
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• 제8권2호
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• pp.178-184
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• 2002

This paper deals with the transfer alignment problem of SDINS(StrapDown Inertial Navigation System) subjected to roll and pitch motions of the ship. In order to reduce alignment errors induced by ship body flexure, a linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to the dominant y axis component and defining the flexure state of random constant type. And then a robust state estimation scheme is introduced to account for modeling uncertainty of the flexure. By interpreting the simulation results and comparing with the velocity and DCM(Direction Cosine Matrix) partial matching method, it is shown that the proposed method is effective enough to improve the azimuth alignment performance.

• Computers and Concrete
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• 제4권1호
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• pp.67-82
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• 2007

The discrete crack-concept is applied to study the 3D propagation of tensile-dominated failure in plain concrete. To this end the Partition of Unity Finite Element Method (PUFEM) is utilized and the strong discontinuity approach is followed. A consistent linearized implementation of the PUFEM is combined with a predictor-corrector algorithm to track the crack path, which leads to a robust numerical description of concrete cracking. The proposed concept is applied to study concrete failure during the PCT3D test and the predicted numerical results are compared to experimental data. The proposed numerical concept provides a clear interface for constitutive models and allows an investigation of their impact on concrete cracking under 3D conditions, which is of significant scientific interests to interpret results from 3D experiments.

• 한국정보통신학회논문지
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• 제7권7호
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• pp.1514-1519
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• 2003

본 논문은 Custom Power의 입력 전압 Sag 보상을 위해 사용되는 3상 PWM Boost AC-AC 컨버터의 정적특성 및 동적 특성의 모델링 및 해석을 다룬다. 특히 회로 DQ 변환 기법을 사용하여 기본파 영역에서 시스템의 특성을 모두 포함하는 등가회로를 구하고, 전압이득과 입력 역률에 대한 해석적인 결과를 도출한다. 또한, 제어의 관점에서 유용한 일정한 동작 점 하에서의 선형화 된 상태방정식을 구한다. 끝으로, PSIM 시뮬레이션을 통하여 제안된 등가회로 모델링과 해석이 타당함을 확인하였다.