• Journal of Navigation and Port Research
• /
• v.41 no.5
• /
• pp.337-344
• /
• 2017

In the offshore crane system, the requirements on the operating safety are extremely high due to many external factors. Rope extension is one of the factors producing vertical vibration of load. In this study, the load is carried by the motor-winch actuator control and the rope is modeled as a mass-damper-spring system. To control the load position and suppress the vertical vibration of the load, a control system based on input-output linearization method is proposed. By the simulation and experiment results with pilot crane model, the effectiveness of proposed control method is evaluated and verified.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10b
• /
• pp.588-593
• /
• 1987

In this study, direct-drive position controllers are designed and implemented for the flying vehicles actuating system with both positive and negative load factors, where the load factors are assumed proportional to the deflection angle of control surface. Its analog and digital controllers are verified through software simulation and hardware-in-the-loop simulation.

• Proceedings of the KIEE Conference
• /
• 2003.11b
• /
• pp.307-310
• /
• 2003

In this paper, an iterative learning control method is applied to suppress the vibration of a 2-mass system which has a flexible coupling between a load an a motor. More specifically, conditions for the load speed without vibration are derived based on the steady-state condition. And the desired motor position trajectory is synthesized based on the relation between the load and motor speed. Finally, a PD-type learning iterative control law is applied for the desired motor position trajectory. Since the learning law applied for the desired trajectory guarantees the perfect tracking performance, the resulting load speed shows no vibration. In order to handle the initial position error, the PD-type learning law is changed to PID-type and a weight function is added to suppress the residual vibration caused by the initial error. The simulation results show the effectiveness of the proposed learning method.

• Journal of the Korean Wood Science and Technology
• /
• v.26 no.2
• /
• pp.1-5
• /
• 1998

Nail withdrawal tests were conducted on clear wood of radiata pine. Nails were driven into the earlywood and latewood zones of each specimen, and nail withdrawal tests were then performed. Nail withdrawal loads were strongly dependent on earlywood and latewood and on nail position. The average load values for nail withdrawal in both the tangential and longitudinal directions were higher for latewood than for earlywood. Linear and nonlinear regression analyses of nail withdrawal load with specific gravity showed no discernible differences. Good correlations were obtained between nail withdrawal load and specific gravity.

• Journal of Power Electronics
• /
• v.7 no.2
• /
• pp.159-173
• /
• 2007

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

• Proceedings of the KIPE Conference
• /
• 1999.07a
• /
• pp.4-9
• /
• 1999

A new control method for precision robust position control of a brushless DC (BLDC) motor using asymptotically stable adaptive load torque observer is presented in the paper. Precision position control is obtained for the BLDC motor system approximately linearized using the field-orientation method Recently, many of these drive systems use BLDC motors to avoid backlashe. However, the disadvantages of the motor are high cost and complex control because of nonlinear characteristics. Also, the load torque disturbance directly affects the motor shaft. The application of the load torque observer is published in [1] using fixed gain. However, the motor flux linkage is not exactly known for a load torque observer. There is the problem of uncertainty to obtain very high precision position control. Therefore a model reference adaptive observer is considered to overcome the problem of unknown parameter and torque disturbance in this paper. The system stability analysis is carried out using Lyapunov stability theorem. As a result, asymptotically stable observe gain can be obtained without affecting the overall system response. The load disturbance detected by the asymptotically stable adaptive observer is compensated by feedforwarding the equivalent current which gives fast response. The experimenta results are presented in the paper.

• Proceedings of the KIEE Conference
• /
• 1992.07a
• /
• pp.414-416
• /
• 1992

Stability analysis and load distribution problem of two coordinating robots using full dynamic model is studied in this paper. Dynamic models of two robots are combined with the position force control strategy and the Liapunov 2nd method is used for the proof of the stability. This analysis shows that the position and force control of two coordinating robot is always stable. Also, load distribution problem is mentioned with respect to the end-effector forces minimizing joint torques.

• Journal of the Korean Society for Geothermal and Hydrothermal Energy
• /
• v.9 no.1
• /
• pp.15-19
• /
• 2013

In this Study, effect of core position, area ratio and orientation of building on energy load is examined using TRNSYS17. This parameters are major parameters of the conceptual design stage. Reference model is square floor plan($1,444m^2$), centered core and 29% core area ratio. As the results, without considering the building orientation, the annual heating load of central building with 1:1 area ratio is lowest ($10.33kWh/m^2yr$) and the annual cooling load of off-central building with 1:1 area ratio is lowest ($59.27kWh/m^2yr$). As area ratio is bigger, cooling load is lower and heating load is higher. But if we consider building orientation, orders of heating load and cooling load are changed for area ratio and orientation.

• Journal of Drive and Control
• /
• v.13 no.3
• /
• pp.32-38
• /
• 2016

For this paper, the position-control performances of dual EHA(electro-hydrostatic actuator) systems were investigated according to two cases wherein the double-rod- and single-rod-type hydraulic cylinders were combined. Since the control performance is significantly dependent on the load conditions including external forces such as the inertia load, it is proposed here that the two sub-EHAs are driven by separate position and force controllers, instead of two identical position controllers. According to the simulation results, the best performance was achieved by the position-controlled single-rod-type EHA that was combined with a force-controlled double-rod-type EHA. As the force-controlled double-rod-type EHA compensated for the external loads on the position-controlled single-rod-type EHA, the position-control performance was not influenced by external forces including the inertia load. In addition, the position-controlled single-rod-type EHA contributed to the enhancement of the damping ratio by absorbing the pressure peaks through its internal accumulator. Due to the symmetrical piston areas, the double-rod-type EHA is more suitable for force control than the single-rod- type EHA.

• Proceedings of the KIPE Conference
• /
• 1997.07a
• /
• pp.97-100
• /
• 1997

A new control method for the robust position control of a brushless DC(BLDC) motor using the asymptotically stable adaptive load torque observer is presented. A precision position control is obtained for the BLDC motor system approximately linearized using the field-orientation method. And the application of the load torque observer is published in [1] using fixed gain. However, the flux linkage is not exactly known for a load torque observer. Therefore, a model reference adaptive observer is considered to overcome the problem of the unknown parameter in this paper. And stability analysis is carried out using Liapunov stability theorem. As a result, asymptotically stable observer gain can be obtained without affecting the overall system response. The load disturbance detected by the asymptotically stable adaptive observer is compensated by feedforwarding the equivalent current having the fast response.