• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.1940-1942
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• 2001

Magnetic Levitation System(MLS) levitates a steel ball to the desired position in the gravity field using electromagnetic force. MLS consists of light sensor to measure the position of steel ball and an electromagnet to control the position of the ball, that composes a feedback control system. This work does not use a steel ball with constant mass but variable mass steel balls as magnetic levitation targets. Differential equation of electric circuit for electromagnet and motion equation of the movement of steel ball are derived for modeling nonlinear system, that will be linearized at the nominal operating point. We propose a digital control that can levitate a steel ball of which weight is not known for ED-4810 system. Algorithm for estimating ball weight and feedback control are implemented in digital scheme under pentium PC equiped with A/D and D/A converter, ACL-8112, using C-language. Simulation and experimental results are given to show the usefulness of the proposed controller.

• Earthquakes and Structures
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• v.22 no.4
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• pp.421-430
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• 2022

This paper addresses the stochastic control problem of robots within the framework of parameter uncertainty and uncertain noise covariance. First of all, an open circle deterministic trajectory optimization issue is explained without knowing the unequivocal type of the dynamical framework. Then, a Linear Quadratic Gaussian (LQG) controller is intended for the ostensible trajectory-dependent linearized framework, to such an extent that robust hereditary NN robotic controller made out of the Kalman filter and the fuzzy controller is blended to ensure the asymptotic stability of the non-continuous controlled frameworks. Applicability and performance of the proposed algorithm shown through simulation results in the complex systems which are demonstrate the feasible to improve the performance by the proposed approach.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.8
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• pp.56-64
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• 2005

It is prerequisite that we have to fomulate the nonlinear mathematical modeling to design the guidance and control system of rotorcraft-based unmanned aerial vehicle using a small-scaled commercial helicopter. The small-scaled helicopters are very different from the full-scale helicopters in dynamic behavior such as high rotation speed and high frequency dynamic characteristics. In this paper, the formulation of the mathematical model of the small-scaled helicopter to minimize the complexity is presented by component and source build-up approach. It is linearized at the trim condition of hovering and forward flight and analyzed the flight modes. The results of this approach have general trends but a little difference. To verify this approach, it is necessary to compare this theoretical model with experimental results by system identification using flight test as a next research topic.

• Proceedings of the Korean Society of Soil and Groundwater Environment Conference
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• 2003.09a
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• pp.574-578
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• 2003

There are so many methods to estimate the groundwater recharge. These methods can be categorized into four groups. First groupis related to the water balance analysis, second group is concerned with baseflow/springflow recession, and third group is interested in some types of tracers; environmental tracers and/or temperature profile. The limitation of these types of methods is that the estimated results of recharge are presented in the form of an average over some time period. Forth group has a little different approach. They use the time series data of hydraulic head and specific yield evaluated from field test, and the results of estimation are described in the sequential form. But their approach has a serious problem. The estimated results in forth typeof methods are generally underestimated because they cannot consider the discharge phase of water table fluctuation coupled with the recharge phase. Ketchum el. at. (2000) proposed calibrated method, considering recharge- and discharge-coupled water table fluctuation. But the dischargeis considered just as the areal average with discharge rate. On the other hand, there are many methods to estimate the source wavelet with observed data set in geophysics/signal processing and geophysical methods are rarely applied to the estimation of groundwater recharge. The purpose this study is the evaluation of the applicability of one of the geophysical method in the estimation of sequential recharge rate. The applied geophysical method is called minimum entropy deconvolution (MED). For this purpose, numerical modeling with linearized Boussinesq equation was applied. Using the synthesized hydraulic head through the numerical modeling, the relative sequenceof recharge is calculated inversely. Estimated results are very concordant with the applied recharge sequence. Cross-correlations between applied recharge sequence and the estimated results are above 0.985 in all study cases. Through the numerical test, the availability of MED in the estimation of the recharge sequence to groundwater was investigated

• Journal of the Korean Society of Propulsion Engineers
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• v.19 no.2
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• pp.17-28
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• 2015

In this paper, it is accomplished to design a control method for such an actuation system of simplified ON/OFF mechanism with actuation command limit. First of all, based on experimental data, the modeling works for nonlinear/linear actuation dynamics are performed, which are govern by PWM command as a control input. Using the linearized model, a classical PI control method is designed to satisfy the aimed control performance requirements, and a control algorithm is proposed to realize the required control performance in the effective control region through resolving the issue for the PWM command limit which reduces the control performance. Finally, through control simulations, the design method is verified and the corresponding control performance improvement is evaluated.

• Journal of Aerospace System Engineering
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• v.11 no.5
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• pp.6-12
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• 2017

This paper deals with mathematical modeling of a 75-ton open-cycle Liquid Propellant Rocket Engine (LPRE) and the steady state simulation based on a nominal operating point. Each component of open-cycle LPRE may be classified into seven major categories using thermodynamics and dynamics characteristics. To simplify the simulation model of LPRE in this paper, we used four govern equations with assuming no heat transfer process. We confirmed the mathematical model of LPRE by using the error ratio and comparing the experiment data and simulation data in steady state, and checked the stability with the linearized model. Finally, we demonstrated the simulation model as compared to the transient response of experimental data.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.14 no.4
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• pp.257-264
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• 2002

This paper is concerned with the analysis of wave reflection and transmission from multiple floating breakwaters. Linear potential theory was used for modeling wave field, and the behaviors of the floating breakwaters was represented as linearized equation of motions. The boundary value problem for the wave field was discretized by Galerkin technique. The radiation condition at infinity was modeled as infinite elements developed by Park et al.(1991). The validation of the developed model was given through the comparison with hydraulic experimental data conducted by Park et al.(2000). The possibility for the application of multiple floating breakwaters was also discussed based on the numerical experiments.

• Journal of Electrical Engineering and Technology
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• v.12 no.1
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• pp.117-125
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• 2017

Research on Maglev (Magnetic Levitation) train is currently being conducted in Korea, concerning Urban Transit (110 km/h of maximum speed), semi-high-speed (200 km/h of maximum speed), and high-speed (550 km/h of maximum speed) trains. This paper presents a research study on the levitation and guidance systems for the Korean semi-high-speed maglev train. A levitation electromagnet was designed, and the need for a separate guidance system was analyzed. A guidance electromagnet to control the lateral displacement of the train and ensure its stable operation was then also designed, and its characteristics were analyzed. The dynamic performance of the designed levitation and guidance electromagnets was modeled and analyzed, using a linearized modeling of the system equations of motion. Lastly, a test setup was prepared, including manufactured prototypes of the designed system, and the validity of the design was verified and examined with performance evaluation tests.

• Journal of Mechanical Science and Technology
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• v.20 no.12
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• pp.2105-2114
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• 2006

In this paper, a simplified model is studied to predict analytically the vibration from the helical gear system due to an axial excitation of helical gears. The simplified model describes gear, shaft, bearing, and housing. In order to obtain the axial force of helical gears, the mesh stiffness is calculated in the load deflection relation. The axial force is obtained from the solution of the equation of motion, using the mesh stiffness. It is used as a longitudinal excitation of the shaft, which in turn drives the gear housing through the bearing. In this study, the shaft is modeled as a rod, while the bearing is modeled as a parallel spring and damper only supporting longitudinal forces. The gear housing is modeled as a clamped circular plate with viscous damping. For the modeling of this system, transfer matrices for the rod and bearing are used, using a spectral method with four pole parameters. The model is validated by finite element analysis. Using the model, parameter studies are carried out. As a result, the linearized dynamic shaft force due to the gear excitation in the frequency domain was proposed. Out-of-plan displacement from the forced vibrating circular plate and the renewed mode normalization constant of the circular plate were also proposed. In order to control the axial vibration of the helical gear system, the plate was more important than the shaft and the bearing. Finally, the effect of the dominant design parameters for the gear system can be investigated by this model.

• The Transactions of the Korean Institute of Power Electronics
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• v.20 no.2
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• pp.175-181
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• 2015

In this study, a lithium polymer battery (LiPB) is simply expressed by a primary RC equivalent model. The PI state observer is designed in Matlab/Simulink. The non-linear relationship with the OCV-SOC is represented to be linearized with 0.1 pu intervals by using battery parameters obtained by constant-current pulse discharge. A state equation is configured based on battery parameters. The state equation, which applied Peukert's law, can estimate SOC more accurately. SOC estimation capability was analyzed by utilizing reduced Federal Test Procedure (FTP-72) current profile and using a bi-directional DC-DC converter at temperature ($25^{\circ}C$). The PI state observer, which is designed in this study, indicated a SOC estimation error rate of ${\pm}2%$ in any of the initial SOC states. The PI state observer confirms a strong SOC estimation performance despite disturbances, such as modeling errors and noise.