• 한국기계가공학회지
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• 제19권6호
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• pp.1-8
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• 2020

This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 2004년도 춘계공동학술대회 논문집
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• pp.48-51
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• 2004

The estimation of NC machining time is of significance since it provides shop floor engineers with information for the determination of the productivity of the floor as well as process schedules. The NC machining time commonly depends on NC programs since they have various important information such as tool positions, feed rates, and other miscellaneous functions. Thus, nominal NC machining time can be easily acquired based on the programs. Actual machining time, however, cannot be simply obtained because of the dynamic characteristics of a NC machine controller such as acceleration and deceleration. Hence, this study presents a NC machine time estimation model for sculptured surfaces, considering the dynamic characteristics. The estimation model uses the distribution of NC blocks according to a factor influencing the machining time. Finally, machining time is estimated by a statistical machining time estimation model representing the relationship between the block distribution and the machining time. The parameters in the model are searched out by a genetic algorithm.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권10호
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• pp.587-594
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• 2005

An adaptive observer for rotor resistance is designed to estimate rotor flux for the a-b model of an induction motor assuming that rotor speed and stator currents are measurable. A singularly perturbed model of the motor is used to design an Adaptive sliding mode observer which drives the estimated stator currents to their true values in the fast time scale. The adaptive observer on the sliding surface is based on the equivalent switching vector and both the estimated fluxes and the estimated rotor resistance converge to their true values. A speed controller considering the effects of parameter variations and external disturbance is proposed in this paper. First, induction motor dynamic model at nominal case is estimated. based on the estimated model, speed controller is designed to match the prescribed speed tracking specifications. Then a dead-time compensator and a robust controller are designed to reduce the effects of parameter variations and external disturbances. the desired speed tracking control performance can be preserved under wide operating range, and good speed load regulating performance. Some simulated results are provided to demonstrate the effectiveness of the Proposed controller.

• 한국전자파학회:학술대회논문집
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• 한국전자파학회 2003년도 종합학술발표회 논문집 Vol.13 No.1
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• pp.208-212
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• 2003

An airborne radar is an essential aviation electronic system of the helicopter to perform various missions in all-weather environments. This paper presents the conceptual design results of the multi-mode pulsed Doppler radar system testbed model for helicopter. Due to the inherent flight nature of the hovering vehicle which is flying in low-altitude and low speed, as well as rapid maneuvering, the moving clutters from the platform should be suppressed by using a special MTD (Moving Target Detector) processing. For the multi-mode radar system model design, the flight parameters of the moving helicopter platform were assumed: altitude of 3 Km, average cruising velocity of 150knots. The multi-mode operation capability was applied such as short-range, medium-range, and long-range depending on the mission of the vehicle. The nominal detection ranges is 30 Km for the testbed experimental model, but can be expanded up to 75 Km for the long range weather mode. The detection probability of each mode is also compared in terms of the signal-to noise ratio of each mode, and the designed radar system specifications ate provided as a design results.

• Composites Research
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• 제17권2호
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• pp.34-39
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• 2004

본 연구에서는 폐쇄형 발포금속의 인장 특성을 이해하기 위하여 수정된 단위모델을 제시하였다. 또한 발포금속의 밀도는 가우스 분포에 의거하여 확률적으로 분포한다고 가정하고 본 연구에서 제시된 수정 단위 모델을 조합하여 유한요소 모델을 제안하였다. 이 모델은 실제 인장 시험과 유사한 변형거동을 보이는 것을 확인하였고, 적절한 밀도 분포와 내부 기공을 고려하게 되면, 해석에서 구해진 최대 인장 강도가 근사적으로 실험결과와 일치하는 것을 볼 수 있었다. 또한, 발포 알루미늄의 최대 인장 강도는 밀도 분포의 표준편차보다는 내부 기공 부피분율에 더 민감하게 변하는 것으로 밝혀졌다.

• Steel and Composite Structures
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• 제4권2호
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• pp.149-167
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• 2004

Offshore platforms have to serve in harsh environments and hence are likely to be damaged due to wave induced fatigue and environmental corrosion. Welded tubular joints in offshore platforms are most vulnerable to fatigue damage. Such damages endanger the integrity of the structure. Therefore it is all the more essential to assess the capacity of damaged structure from the point of view of its safety. Eight internally ring stiffened fatigue damaged tubular joints with nominal chord and brace diameter of 324 mm and 219 mm respectively and thickness 12 mm and 8 mm respectively were tested under axial brace compression loading to evaluate the reserve capacity of the joints. These joints had earlier been tested under fatigue loading under corrosive environments of synthetic sea water and hence they have been cracked. The extent of the damage varied from 35 to 50 per cent. One stiffened joint was also tested under axial brace tension loading. The residual strength of fatigue damaged stiffened joint tested under tension loading was observed to be less than one fourth of that tested under compression loading. It was observed in this experimental investigation that in the damaged condition, the joints possessed an in-built load-transfer mechanism. A bi-linear stress-strain model was developed in this investigation to predict the reserve capacity of the joint. This model considered the strain hardening effect. Close agreement was observed between the experimental and predicted results. The paper presents in detail the experimental investigation and the development of the analytical model to predict the reserve capacity of internally ring stiffened joints.

• 한국산업정보학회논문지
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• 제13권2호
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• pp.1-7
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• 2008

본 논문은 시스템 인자의 변위에 강인한 연속반복학습제어기(Repetitive Controller RC)를 설계하는 방법을 소개하고자 한다. 이 때 사용되는 불확실 인자들은 확률분포함수에 의해 무작위로 설정되게 된다. 분포함수를 직접 적용하는 대신 본 제어기는 설정된 확률함수로부터 생성된 모형을 기본으로 설계하였다. 이러한 복수모형 설계 기법으로 임의의 분포함수로 구성된 수많은 불확실 인자들을 다룰 수 있다. 그러므로, 제어기는 반복영역에서 수렴성을 보장하는 비용함수를 주파수영역에서 최소화함으로써 유도할 수 있다. 모의실험은 제안된 복수모형설계 기법으로 구한 RC가 단수모형 설계기법을 이용한 RC보다 강인한 것을 보여 주고 있다.

• 대한조선학회논문집
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• 제54권6호
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• pp.476-484
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• 2017

The purpose of this paper is to verify the structural integrity of a region with numerous penetration-holes in offshore structures such as semi-submersible rig and FPSO. In order to effectively check the yielding and buckling strength of plate members with penetration-holes, a screening analysis program was developed with the FE analysis tool to generate fine meshed model using the theoretical and analysis methods. When a hole is appeared in the plate structure members, the flow of stress is altered such that concentrations of stress form near the hole. Stress concentrations are of concern during both preliminary and detail design and need to be addressed from the perspectives of strength. To configure the geometrical shape, very fine meshed FE analysis is needed as the most accurate method. However, this method is practically impossible to apply for the strength verifications for all perforated plates. In this paper, screening analysis method was introduced to reduce analysis tasks prior to detailed FE analysis. This method is applied to not only the peak stress calculation combined stress concentration factor with nominal stress but also nominal equivalent stress calculation considering cutout effects. The areas investigated by very fine meshed analysis were to be chosen through screening analysis without any reinforcements for penetration-holes. If screening analysis results did not satisfy the acceptance criteria, direct FE analysis method as the 2nd step approach were applied with one of the coarse meshed model considering hole or with the very fine meshed model considering the hole shape and size. In order to effectively perform the local fine meshed analysis, automatic model generating program was developed based on the MSC/PATRAN which is pre-post FE analysis program. Buckling strength was also evaluated by Common Structure Rule (CSR) adopted by IACS as the stress obtained from very fine meshed FE analysis. Due to development of the screening analysis program and automatic FE modeling program, it was able to reduce the design periods and structural analysis costs.

• 대한조선학회논문집
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• 제34권1호
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• pp.1-10
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• 1997

본 연구는 실제 선박 주위의 점성 유동에 대해 RANS방정식을 사용하여 해석함으로써 그 계산 방법의 타당성 및 선형 설계에의 유효성을 입증하고, 모형선 크기에 따른 점성 유동의 영향, 즉 척도효과에 대한 기초 연구를 목적으로 하였다. 높은 레이놀즈수에서의 난류유동을 계산하기 위해 k-${\varepsilon}$ 난류모형을 채용하였으며, 물체 근처에서는 벽법칙을 사용하였다. 선체의 3차원 형상을 효과적으로 처리하기 위해 물체적합좌표계를 이용하여 실제영역에서 유도된 지배방정식을 계산영역으로 변환시켰으며, 유한체적법을 사용하여 이산화시켰다. 압력 계산은 SIMPlE법을 사용하였으며, 이산화된 식들은 TDMA를 이용한 선순법으로 해를 구하였다. 실제 계산대상 선박은 4410 TEU급 콘테이너 운반선과 50,000 DWT급 살물 운반선으로 모형선 크기와 실선 크기에 대해 점성유동을 해석하여 비교하였으며, 모형선에 대해서 저항시험, 프로펠러 면에서의 반류분포 조사 시험, 그리고 한계유선 조사시험을 수행하여 계산결과와 비교 검토하였다. 계산결과는 선미 유동장에서의 평균속도와 압력 분포에 있어서 선미 형상에 따른 효과와 척도효과를 잘 묘사하고 있다. 특히, 계산된 프로펠러 변에서의 반류분포와 선체 표변에서의 한계유선 분포는 실험과 정성적으로 잘 일치하고 있으며, 점성저항 추정에 있어서는 실험 값과 ${\pm}5%$ 이내로 예측하고 있음을 보여 주고 있어 선형 개발의 설계 도구로 활용될 수 있음을 알 수 있다.

• 한국정밀공학회지
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• 제17권8호
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• pp.78-86
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• 2000

This study identified a linear time-invariant mathematical model of each stand of a five-stand tandem cold mill. Two model identification methods are applied to construct a linear model of each stand of the tandem cold mill. For the model identification the input-output data that have interstand interference property in tandem cold rolling are obtained from a nonlinear simulator of the tandem cold mill. And a linear model of each stand is identified with N4SD(numerical algorithms for subspace state space system identification) method based on a state-space model and Least Square algorithm based on a transfer function. Furthermore a modeling error of the tandem cold mill is quantitatively analyzed from a maximum singular value plot of error function between an identified nominal model and uncertain model. In conclusion the comparison of the output signals between the existing Taylor linearized model the identified linear model and the nonlinear model of the tandem cold mill shows the accuracy and the applicability of the proposed identified model.