• 소음진동
• /
• 제11권1호
• /
• pp.68-75
• /
• 2001

A method for actively controlling dynamic reaction forces in flexible structures subject to persistent excitations is presented. Since reaction forces are not directly measured in flexible structures, reaction forces are estimated by using the Kalman filter. The estimated reaction force is used as an error signal in the adaptive feedforward disturbance cancellation controller. In order to compensate the static effect of the truncated modes in the reaction forces, the residual flexibility matrix is used with the Kalman filter. The paper presents the formulation of the reaction forces in conjunction with the Kalman filter estimator and the adaptive feedforward controller. The results show that the dynamic reaction forces at its supports in a flexible beam test rir are well suppressed.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 하계학술대회 논문집 B
• /
• pp.417-419
• /
• 1998

In a large diesel engine actuator position servo system, it is impossible to isolate an actuator fault from a load torque with conventional fault detection isolation (FDI) schemes because they are propagated through a channel. This paper deals with a parity equation based residual generation to isolate them in the system. The actuator fault is modelled by a multiplicative type fault that can be characterized as discrepancies between the nominal and actual plant parameters, whereas the load torque is modelled by an additive disturbance. The transformation implemented in the residual generator should be determined on-line to achieve the isolation. Simulation studies show the practical applicability of the FDI scheme.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
• /
• pp.177-182
• /
• 1989

In this paper a new adaptive control algorithm is derived, with the unknown manipulator and payload parameters being estimated online. In practice, we may simplify the algorithm by not explicity estimating all unknown parameters. Further, the controller must be robust to residual time-varying disturbance, such as striction or torque ripple. Also, the reference model is a simple douple integrator and the acceleration input for robot manipulator consists of a proportion and derivative controller for trajectory tracking purposes. The validity of this control is confirmed in simulation where two-link robot manipulator shows the robust performances in spite of the existing nonlinear interaction and unknown parametrictings

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.355-355
• /
• 2000

The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a 개bot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.

• 한국지반공학회:학술대회논문집
• /
• 한국지반공학회 2010년도 춘계 학술발표회
• /
• pp.314-323
• /
• 2010

Recently, granular soils having a large particle size are frequently used as a filling material in the construction of foundation, harbor, dam, and so on. The shear behavior of this granular soil plays a key role in the stability of structures. For example, soil particle crushing occurring at the interface between structure and soil and/or within soil mass can cause the disturbance of ground characteristics and consequently induce an issues in respect of stability of structures. In order to investigate the shear behavior according to an existence and nonexistence of particle crushing, numerical analyses were conducted by using the DEM(Discrete Element Method)-based software program PFC(Particle Flow Code). Using the crushing model and non-crushing model which were created in this study, numerical analyses of ring shear test were conducted and their results were analyzed and compared. In general, landslide and slope stability are accompanied by a large displacement and consequently not only a peak strength but also a residual strength are very important in the analysis of landslide and slope stability. However the direct shear test which has been commonly used in the determination of shear strength parameters has a limitation on displacement therefore the residual strength parameters can not be obtained. The characteristics of residual shear behavior were investigated through the numerical analyses in this study.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2004년도 춘계학술대회논문집
• /
• pp.780-783
• /
• 2004

Recently Intake noise has been extensively studied to reduce the engine noise. In order to diminish intake noise several resonators were added to the intake system. However this can cause a reduction of engine output power and an increase of fuel consumption. In this study, active noise control simulation of the Filtered-x LMS algorithm is applied real instrumentation intake noise data under rapid acceleration because intake noise is more excessively increased under the such a harsh condition. But the FXLMS algorithm has poor control performance when the system is disturbed. Thus modified FXLMS algorithm using L-point running average filter is developed to improve the control performance under the rapid acceleration and disturbance. The noise reduction quantity of modified Filtered-x LMS algorithm is more than original one in two cases. In the case of control for real instrumentation intake noise data, maximum residual noise of modified FXLMS algorithm is 2.5 times less than applied the FXLMS and also in the case of disturbed, the modified FXLMS algorithm shows excellent control performance but FXLMS algorithm cat not control.

• 한국정밀공학회지
• /
• 제18권7호
• /
• pp.53-64
• /
• 2001

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper the sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But, in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• Clinical and Experimental Pediatrics
• /
• 제53권6호
• /
• pp.680-687
• /
• 2010

Patients with congenital heart diseases (CHD) are confronted with early- and late-onset complications, such as conduction disorders, arrhythmias, myocardial dysfunction, altered coronary flow, and ischemia, throughout their lifetime despite successful hemodynamic and/or anatomical correction. Rhythm disturbance is a well-known and increasingly frequent cause of morbidity and mortality in patients with CHD. Predisposing factors to rhythm disturbances include underlying cardiac defects, hemodynamic changes as part of the natural history, surgical repair and related scarring, and residual hemodynamic abnormalities. Acquired factors such as aging, hypertension, diabetes, obesity, and others may also contribute to arrhythmogenesis in CHD. The first step in evaluating arrhythmias in CHD is to understand the complex anatomy and to find predisposing factors and hemodynamic abnormalities. A practical stepwise approach can lead to diagnosis and prompt appropriate interventions. Electrophysiological assessment and management should be done with integrated care of the underlying heart defects and hemodynamic abnormalities. Catheter ablation and arrhythmia surgery have been increasingly applied, showing increasing success rates with technological advancement despite complicated arrhythmia circuits in complex anatomy and the difficulty of access. Correction of residual hemodynamic abnormalities may be critical in the treatment of arrhythmia in patients with CHD.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2004년도 추계학술대회논문집
• /
• pp.236-241
• /
• 2004

In this paper, the dual stage interaction between the coarse actuator and the fine actuator of an optical disk drive and the control method to enhance the track pull-in performance are discussed. First, the interaction analyses for the dual stage, and the experiments to find the each actuator dynamics are studied. From the experiments results, some physical parameters was derived, then, some simulations are performed to find the residual vibration effect of the fine actuator during seek motion. Second, the fine actuator control method to reduce the relative velocity, which is a key factor in track pull-in performance, between the target track and beam spot is proposed. From simulations, we show that fine actuator control which has same frequency and same phase of the disturbance is effective to reduce the relative velocity, hence, the control method is good approach in the track pull-in enhancement. Finally, the some comments are discussed briefly.

• 제어로봇시스템학회논문지
• /
• 제7권7호
• /
• pp.559-566
• /
• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.