• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.488-493
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• 2005

In gun stabilization systems, the torque comes from the unbalance mass of gun and the base acceleration is an important source of disturbance which degrades stabilization performance. Fatigue of gear train is another important factor affecting structural safety problems. In this paper, a feedback control gain is designed by optimal control weighting to difference between motor and gun velocity, and a feedforward controller using FXLMS algorithm is adopted to investigate those problems. Experimental results show that the feedforward compensator based on FXLMS can reduce the disturbance effects. The directional convergence property according to initial conditions of the FXLMS is also shown through experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.149-154
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• 1990

In this paper, simulation results of a robust digital tracking controller on a robotic manipulator are presented. The objective is to follow a ramp reference input with zero steady state error in the presence of a disturbance and system parameter variations. Some of the difficulties are caused by the Coulomb frictions, the disturbance due to the gravitational pull, the spring effect of a link between the drive motor and the manipulator arm. Another difficulty is that, because of the non-differentiable Coulomb friction, the digital control system cannot be represented as a discrete system. It is thus necessary to design the controller based on a discrete-continuous hybrid model. The controller is based on feeding back the state variables and augmenting the system by addition discrete integrators. The feedback gain parameters are obtained by applying the quadratic optimal control theory and then choosing the new weighting matrices to eliminate the limit cycle by using the describing function method for hybrid system.

• 품질경영학회지
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• 제30권2호
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• pp.99-117
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• 2002

Variable sampling interval(VSI) and variable sample size(VSS) control charts vary the sampling rate for the next sample depending on the current chart statistic. This paper develops EWMA charts with the VSI and VSS features, and investigates the effectiveness of these charts in context of an economic model. The economic properties of these charts are evaluated by using Markov chain methods. The model contains cost parameters which allow the specification of the costs associated with sampling, false alarms, and operating off target. This economic model can be used to quantify the cost saving that can be obtained by using control charts with the VSI and VSS features instead of with the fixed sampling rate(FSR) feature, and can also be used to gain insight into the way that control charts with the VSI and VSS features should be designed to achieve optimal economic performance. The economic performance of X charts with the VSI and VSS features is also considered.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권5호
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• pp.338-344
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• 2004

This paper presents a sensorless speed control of a DC servo motor using a fuzzy-sliding observer in the presences of load disturbances. A fuzzy-sliding observer is proposed in order to estimate the speed of a motor rotor. First, a sliding observer is used to estimate the derivative of the armature current directly using the armature current mesured in the DC servo motor. Second, the optimal gain of the Luenberger observer is set up using the fuzzy control. Experimental results show the good performance in the DC servo motor system with the proposed fuzzy-sliding observer.

• 한국통신학회논문지
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• 제36권6A호
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• pp.601-608
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• 2011

기존에 연구된 OFDMA(Orthogonal Frequency Division Multiple Access) 기반 다중 홉 전송망의 부반송파 페어링 방법들은 단순히 채널의 신호대잡음비(SNR)만을 고려한 것이므로, 2차 시스템의 사용으로 인해 1차 사용자에게 미치는 간섭량을 고려해야 하는 무선 인지 환경에는 적합하지 않다. 따라서, 본 논문은 OFDMA 기반의 다중 홉 무선 인지 시스템에서 1차 사용자에게 미치는 간섭을 제거하기 위해 전력제어를 수행할 경우, 감소된 수율을 향상시키기 위한 효과적인 부반송파 할당 방법에 관해 연구를 수행하였다. 간섭 채널 이득만을 고려한 IT(Interference channel gain) 방법과 채널 이득과 간섭 채널 이득의 비를 고려한 CI(Channel SNR over interference channel gain) 방법, 2가지의 부반송파 페어링 방법을 제안했으며, 모의실험을 통해 기존 방법과 성능비교를 수행하였다. 무선 인지 시스템에서 간섭 임계치를 만족시키기 위해 전력 제어가 필요한 경우에는 제안한 CI 방법이 성능이 가장 우수했으며, 기존 방법보다 최대 약 10% 이상의 수율 향상을 거두는 것을 확인하였다.

• 한국융합학회논문지
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• 제11권11호
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• pp.195-201
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• 2020

본 논문에서는 쿼드콥터형 드론 시스템을 구현하고, PID 제어기에서 안정화 시간을 최소화할 수 있는 이득 계수를 구하기 위한 경험적 방법을 제안하였다. 드론 자세 안정화 제어 시스템은 가속도 센서와 자이로 센서의 자세 정보를 마호니 필터를 통해 보정한 후 PID 제어기를 통해 4개의 모터를 구동한다. 제안된 방법은 기존의 지글러-니콜스 방법을 통해 1차적으로 이득 계수를 구한 후에 각각의 이득 계수를 경험적 방법으로 다시 최적화하는 단계를 거쳐서 결정한다. 최종적으로 구해진 이득 계수를 구현된 시스템에 적용하여 롤 방향으로 20도 회전하는 실험을 수행한 결과 기존의 지글러-니콜스 방법에 비해 최대 오버슈트는 44.3도에서 29.8도로 감소하면서도 안정화시간이 2.6초에서 1.7초로 개선됨을 확인할 수 있었다. 따라서 제안된 방식은 최적의 이득 계수를 구하기 위한 시행착오를 줄이면서도 드론과 같이 모터 잡음이 심한 환경에서도 잘 동작함을 실험을 통해 증명하였다.

• Asian-Australasian Journal of Animal Sciences
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• 제28권1호
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• pp.111-119
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• 2015

A growth trial was conducted to determine the optimal incorporation level of dietary magnesium hydrogen phosphate (MHP, $MgHPO_4$), which was manufactured from swine manure and phosphorus (P), required by juvenile far eastern catfish (Silurus asotus). Graded MHP of 0.5%, 1.0%, 1.5%, and 2.0%, and 2.0% monocalcium phosphate (MCP) each was added to the basal diet (control) in lieu of cellulose to become the range of available P (AP) from 0.4% to 0.8% of which diets were designated as control, MHP0.5, MHP1.0, MHP1.5, MHP2.0, and MCP, respectively. Control diet contained fish meal (20%), soybean meal (40%), wheat flour (27%), corn gluten meal (5%), fish oil (2%) and soy oil (2%) as main ingredients. Following a 24 h fasting, 540 fish with a mean body weight of 11.8 g were randomly allotted to 6 groups in triplicate, whereby 18 tanks ($0.4{\times}0.6{\times}0.36cm$, water volume of 66 L) were prepared. The feeding experiment lasted for 8 weeks. Fish group fed the control diet showed the lowest weight gain (WG) and feed efficiency (FE) among treatments. The WG was, however, not significantly different (p>0.05) from that of fish group fed MHP0.5. Fish group fed MHP2.0 showed the highest WG and FE of which values were not significantly different from those of fish groups fed diets MHP1.0 and MHP1.5 as well as MCP (p>0.05) except fish groups fed control and MHP0.5. Aspartate aminotransferase was significantly decreased with an increase in available P, while alanine aminotransferase did not show a significant difference among treatment. The highest inorganic P in plasma was observed in fish fed MHP2.0. From the present results, a second-order regression analysis revealed that the optimal dietary MHP level and the AP requirement were found to be 1.62% and 0.7%, respectively.

• 농업과학연구
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• 제46권3호
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• pp.451-460
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• 2019

The aim of this study was to investigate the effects of dietary supplementation of acetaminophen on feed intake and growth performance of Hanwoo steers in the summer. Eight steers participated in a twelve-week experiment. The steers were randomly assigned into one of two treatments: Control and acetaminophen supplementation. Commercial acetaminophen was top-dressed to a concentrate mix at a rate of 3 g/kg based on dry matter. Individual feed intake was measured daily during the entire period of the experiment, and the intake of forage and concentrate diet were measured separately. The body weight of the steers were measured every 4 weeks. During the experimental period, ambient temperatures were recorded using an automatic temperature and humidity recorder. Acetaminophen had no effect (p > 0.05) on body weight, average daily gain, dry matter intake (DMI) and feed conversion ratio. Numerically, total DMI and concentrate DMI in the acetaminophen treated group were 5.7% and 7.6% lower than those of the control group, respectively, and the daily gain was 9.7% higher. As a result, the feed conversion rate of the acetaminophen treated group improved by 17% compared to the control; however, it was not statistically significant (p = 0.237). The results of this study suggest that acetaminophen supplementation may reduce the feed conversion ratio of Hanwoo steers under high temperature stress. However, further studies are needed to confirm the optimal level of acetaminophen supplementation which has a significant effect on the intake and weight gain of Hanwoo steers in the summer.

• 한국정밀공학회지
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• 제30권10호
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• pp.1031-1039
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• 2013

This paper presents gain optimization of a 6-DOF underwater robotic platform with 4 rotatable thrusters. To stabilize the 6-DOF motion of the underwater robotic platform, a back-stepping controller is designed with 6 proportional gains and 6 derivative gains. The 12 gains of the backstepping controller are optimized to decrease settling time in step response in 6-DOF motion independently. Stability criterion and overshoots are used as a constraint of the optimization problem. Trust-region algorithm and hybrid Taguchi-Random order Coordinate search algorithm are used to determine the optimal parameters, and the results by two methods are analyzed. Additionally, the resulting controller shows improved performance under disturbances.

• 한국통신학회논문지
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• 제34권5A호
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• pp.341-346
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• 2009

OFDM (Orthogonal Frequency Division Multiplexing) 방식을 기반으로 하는 M-WiMAX (Mobile-Worldwide Interoperability for Microwave Access) 시스템은 이동성이 있는 고속 데이터 전송에 적합한 전송 방법으로 널리 알려져 있지만, 수신단에서의 LO (Local Oscillator)에 의해 발생하는 IQ 불균형에 매우 민감한 특성을 보이는 단점이 있다. 따라서, 본 논문에서는 IQ 불균형이 시스템에 미치는 영향을 분석하고, 이를 보상하는데 있어 이득 불균형의 추정 및 보상이 AGC (Automatic Gain Control) 기능과 중첩함으로 단말 모뎀에서 DFE (Digital Front-end) 의 소형화 및 고집적화를 위한 두 기능의 결합 기법을 제시한다. 모의 실험을 통해 기존 방법과의 성능 차이가 없음을 보여 제안한 기법에 의한 H/W 구현의 복잡도를 감소시킬 수 있다.