• 한국공작기계학회논문집
• /
• 제10권5호
• /
• pp.78-84
• /
• 2001

The translation system is made up of springs, masses and a dashpot. This precise piece of equipment is controlled electro-mechanically by a motor and operating program. The control strategy of the system can be changed by spring stiffness, change of mass, and the damping coefficient of the dashpot. This system proves the necessity and effect of a closed loop control. In this paper, PD control experiments were implemented for the translation system. When the north falter was added on the PD controller, we compared the response characteristics of the two systems. The state feedback controller minimized scalar control gains and the resulting response characteristics of the system were studied using the LQR design. Finally, we improved the response characteristics of the translation system which are rising time, settling time, steady state error, and overshoot LQR was better as compared with PD control.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
• /
• pp.89-94
• /
• 1994

This paper presents an impact control algorithm for reducing the potentially damaging effects by interation of redundant manipulators with their environments. In the. proposed control algorithm, the redundancy is resolved at the torque level by locally minimizing joint torque, subject to tire operational space dynamic formulation which maps tire joint torque set into the operational forces. For a given pre-impact velocity of the manipulator, the proposed approach is on generating joint space trajectories throughout the motion near the contact which instantaneously minimize the impulsive force which is a scalar function of manipulator's configurations. This is done by using the null space dynamics which does not affect the motion of an end-effector. The comparative evaluation of the proposed algorithm with a local torque optimization algorithm without reducing impact is performed by computer simulation. The simulation results illustrate the effectiveness of the algorithm in reducing both the effects of impact and large torque requirements.

• Journal of Electrical Engineering and information Science
• /
• 제1권1호
• /
• pp.29-38
• /
• 1996

To improve the reliability of control systems, certain robustness to plant uncertainties and disturbance inputs is required in terms of well founded mathematical basis. Robust control theory was set up and developed until now from this motivation. In this field, H$_2$or H\ulcorner norm performance measures are frequently used nowadays. Moreover a mixed H$_2$/H\ulcorner control problem is introduced to combine the merits of each measure since H$_2$control usually makes more sense for performance while H\ulcorner control is better for robustness to plant perturbations. However only some partial analytic solutions are developed to this problem under certain special cases at this time. In this paper, the mixed H$_2$/H\ulcorner control problem is considered. The analytic(or semi-analytic) solutions of (sub)optimal mixed H$_2$/H\ulcorner state-feedback controller are derived for the scalar plant case and the multivariable plant case, respectively. An illustrative example is given to compare the proposed analytic solution with the existing numerical one.

• 대기
• /
• 제24권3호
• /
• pp.331-341
• /
• 2014

In this study, the effects of building-roof cooling on scalar dispersion in three-dimensional street canyons are investigated using a computational fluid dynamics (CFD) model. For this, surface temperature of building roof is systematically changed and non-reactive pollutants are released from street bottom in urban street canyons with the aspect ratio of 1. The characteristics of flow, air temperature, and non-reactive pollutant dispersion in the control experiment are analyzed first. Then, the effects of building-roof cooling are investigated by comparing the results with those in the control experiment. In the control experiment, a portal vortex which is a secondary flow induced by ambient air flow is formed in each street canyon. Averaged air temperature is higher inside the street canyon than in both sides of the street canyon, because warmer air is coming into the street canyon from the roof level. However, air temperature near the street bottom is lower inside the street canyon due to the inflow of cooler air from both sides of the street canyon. As building-roof temperature decreases, wind speed at the roof level increases and portal vortex becomes intensified (that is, downdraft, reverse flow, and updraft becomes stronger). Building-roof cooling contributes to the reduction of average concentration of the non-reactive pollutants and average air temperature in the street canyon. The results imply that building-roof cooling has positive effects on improvement of thermal environment and air quality in urban areas.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.63.6-63
• /
• 2002

The technique of backstepping have can avoid cancellations of useful nonlinearities. It is widely used in nonlinear adaptive control. But it is difficult to use this technique for uncertain nonlinear systems. Sliding mode control has robustness and application with feedback linearization. This paper shows that the robustness can be used for back stopping technique to solve the uncertainty problem and to improve the scalar design problem using Control Lyapunov function which is the motivation of back stepping technique with recursive design for high-order systems. In the respect of SMC, the result of this paper does not need to satisfy the matching condition.

• 한국전산유체공학회지
• /
• 제4권1호
• /
• pp.8-18
• /
• 1999

In devising a numerical approximation for the convective spatial transport of a fluid mechanical quantity, it is noted that the convective motion of a scalar quantity occurs in one-way, or from upstream to downstream. This consideration leads to a new scheme termed a pure upwind difference scheme (PUDS) in which an estimated value for a fluid mechanical quantity at a control surface is not influenced from downstream values. The formal accuracy of the proposed scheme is third order accurate. Two typical benchmark problems of a wall-driven fluid flow in a square cavity and a buoyancy-driven natural convection in a tall cavity are computed to evaluate performance of the proposed method. for comparison, the widely used simple upwind scheme, power-law scheme, and QUICK methods are also considered. Computation results are encouraging: the proposed PUDS sensitized to the convection direction produces the least numerical diffusion among tested convection schemes, and, notable improvements in representing recirculation of fluid stream and spatial change of a scalar. Although the formal accuracy of PUDS and QUICK are the same, the accuracy difference of approximately a single order is observed from the revealed results.

• Nuclear Engineering and Technology
• /
• 제43권3호
• /
• pp.243-256
• /
• 2011

This paper considers the concept of analog computing based on a cellular neural network (CNN) paradigm to simulate nuclear reactor dynamics using a time-dependent second order form of the neutron transport equation. Instead of solving nuclear reactor dynamic equations numerically, which is time-consuming and suffers from such weaknesses as vulnerability to transient phenomena, accumulation of round-off errors and floating-point overflows, use is made of a new method based on a cellular neural network. The state-of-the-art shows the CNN as being an alternative solution to the conventional numerical computation method. Indeed CNN is an analog computing paradigm that performs ultra-fast calculations and provides accurate results. In this study use is made of the CNN model to simulate the space-time response of scalar flux distribution in steady state and transient conditions. The CNN model also is used to simulate step perturbation in the core. The accuracy and capability of the CNN model are examined in 2D Cartesian geometry for two fixed source problems, a mini-BWR assembly, and a TWIGL Seed/Blanket problem. We also use the CNN model concurrently for a typical small PWR assembly to simulate the effect of temperature feedback, poisons, and control rods on the scalar flux distribution.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅲ
• /
• pp.1355-1358
• /
• 2003

This paper presents performance analysis of the embedded application, called EEMBC consisting of 5 categories and total 34 applications. We measured various performance metrics, such as code sizes, TLP(Thread Level Parallelism) using OpenMP API and ILP(Instruction Level Parallelism) on ARM-modeled SimpleScalar in detail. We show that the embedded applications have the similar characteristics as integer applications to deliver low ILP and TLP in our environment. They have many small loops, which result in large instruction overhead in TLP and loop control overhead in ILP.

• 전력전자학회:학술대회논문집
• /
• 전력전자학회 2000년도 전력전자학술대회 논문집
• /
• pp.199-202
• /
• 2000

The accurate identification of the motor parameters in crucially important to achieve high dynamic performance of induction motors. In this paper parameter auto-tuning algorithms for stator(rotor) resistance stator(rotor) leakage inductance mutual inductance and rotor inertia. Stator(rotor) resistance and stator(rotor) leakage inductance are identified based on the stationary coordinate and mutual inductance and rotor resistor on the scalar speed control and the transient motor terminal voltage. To demonstrate the practical significance of our results we present some experimented results.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.159.2-159
• /
• 2001

The new approach of homogeneous robust control systems synthesis, both linear, and nonlinear and non-stationary is offered. The control is carried out, providing the given phase constrains varied in acceptable limits, in view of constrains on its value and incompleteness of the information about functioning disturbances. The approach is based on introduction of auxiliary integral surfaces, on which the initial moving is projected. As a result the reduced equivalent moving is forming, described by the scalar equation which in many important cases can be integrated directly. On the basis of the obtained equation solving of a synthesis task is carried out and can be reduced to algebraic or integral inequalities. The final relations defined for linear equivalent moving are presented.