• 상하수도학회지
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• 제24권5호
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• pp.485-493
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• 2010

Chemical coagulation destabilizes colloidal particles so that particles grow to larger flocs. Solid particles are then removed by solid-liquid separation after typical precipitation. Rapid precipitation enhances the separation by reducing the precipitation time with larger and denser particles. Conventionally, polyelectolyte compounds (polymers) function as a flocculant aid by introducing a interparticle binding, which increases the particle size and density. And more recent ballasted flocculation adds a ballasting agent (microsand) to form denser particles with its high-density(sp gr=2.65). The current research was to evaluate the manner in which ballasted flocs are formed under different injection timings of microsand and to recognize the effects on floc formation. $FeCl_3$ as a coagulant, anionic polymer for a flocculation aid and microsand were used for the floc formation. Floc size (diameter) was widely ranged with the highest mean value when microsand was injected between $FeCl_3$ and polymer. Mean floc density was larger when the floc formed smaller. Settling velocity increased with larger floc size, whilst not significantly affected by the timing of microsand injection. The additional slow mixing on floc formation increased floc size to some extent.

• 전자공학회논문지SC
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• 제41권2호
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• pp.1-8
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• 2004

본 논문은 시간지연을 갖는 2차 시스템에서 시간영역의 설계사양을 만족하는 최적 강인 LQ-PID제어기 설계방법을 제안한다. 시간지연을 갖는 2차 시스템의 LQR 해를 이용한 LQ-PID제어기 파라미터는 설계사양을 만족하는 가격함수의 가중치요소 C와 R에 의해 결정되고, Q와 R의 선정은 시간영역에서의 오버슈트와 정착시간을 조절할 수 있는 설계파라미터들 선정에 의해 결정되어진다.

• 대한환경공학회지
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• 제39권3호
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• pp.140-148
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• 2017

강우 초기 표면 유출에 의해 지표수로 전달되는 비점오염물질을 저감하기 위하여 고안된 초기우수처리 장치의 효율을 분석하였다. 장치는 파일럿 규모로서 실험실 수준의 분석 결과에 근거하여 설계되었다. 강우시 사전에 설정된 조건들에 따라 실험 장치로 채수를 실시하였으며, 24시간 동안 정치하여 침강에 의해 오염물질을 제거한 상등수의 수질을 측정하여 효과를 분석하였다. 총 9번의 강우에 대하여 평균적인 제거 효율은 총고형물질(Total Suspended Solid, TSS), 총인(Total Phosphorus, TP) 그리고 총질소(Total Nitrogen, TN)에 대하여 각각 87.4%, 75.3% 및 43.6%로 나타났다. 초기 강우 유출수 오염물질의 농도는 강우량과 강우강도가 증가함에 따라 증가되는 것으로 분석되었다. 이는 강우 초기 각 오염물질의 고형물질의 분율이 더 크기 때문인 것으로 판단된다. 본 연구에서는 초기 강우시 발생하는 유출수에 의한 오염부하의 상당부분을 단순한 침강만으로 효과적으로 제거할 수 있다는 것을 검증하고자 하였으며, 특히 추가의 동력이나 화학물질의 투입 없이도 고형물질 분율이 높은 TSS와 TP의 제거 효율이 우수한 것으로 나타났다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.13-17
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• 1993

In this paper, a design method of controller which incorporates pole restriction into implicit self tuning algorithm is proposed. The idea behind pole restriction is that the closed loop poles of the system are restricted to a user-chosen circle in the region to meet maximum percentage overshoot and settling time specification. Most algorithm based on pole restriction are explicit schemes involving a parameter estimation and synthesis stage to obtain controller parameters. The object of this paper is to have an algorithm that has the idea of pole restriction and the simplicity of the implicit approach.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.346-351
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• 2002

Several algorithm applied to single axis feed system with linear motor has been extensively reviewed in order to check the possible applicability to two axis system Among several factors considered, overshoot of the response was the most important one in minimizing position tracking error. Balance between overshoot and settling time has be adjusted to guarantee to best tracking performance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2495-2497
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• 2004

A system, featuring the hybrid isolator for control in the vertical direction, of active microvibration control was proposed. The main components of this system are a stage vibration isolation table with built-in acceleration sensors for detecting microvibration, hybrid isolators and a digital controller with high precision signal converters. The vibration control algorithm is focused on settling-time critical application and feedback/feedforward combination.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.108.5-108
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• 2001

The research of friction compensation control system seeks the accuracy, the velocity increase of the table, and the settling time reduction. The friction is the disturbance which has the greatest influence, but the past research of control system doesn´t perform exact modeling of the friction. So this research aims at the friction compensation control system, the exact modeling of the friction, comparison between the model simulation and experimental data, and the design of observer for the friction estimation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.282-285
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• 1989

This paper presents a new algorithm for position control of the BALL-HOOP system driven by th D.C. servo motor-through the micro computer simulation. The Stale Feed back + PID control algorithm is proposed. This algorithm performs that the settling time is faster and overshoot is decreased more remarkably than the PID and the State Feedback algorithm alone. In this simulation the difference equations are used to calculate the output of the control system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1127-1132
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• 1991

Pneumatic control system has been used mainly for endpoint position control because of the compressibility, viscosity and low output stiffness of air which causes nonlinear flow characteristics. In this paper, pneumatic position control algorithms using fuzzy rule were developed to achieve faster and more stable response than conventional PI control algorithm. The performances of the proposed algorithms were compared by computer simulations with them of PI controller. From those simulations it was shown that the proposed algorithms are more efficient about settling time, steady state error and overshoot than PI control algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.164-168
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• 1988

This paper utilizes an optimal control law for the accurate tracking servo system design. The devivation of a simple control law implementing microprocessor is made to minimize position and speed error of the controller. The 16 bit microprocessor receives command angular position and calculate the control algorithm for accurate tracking and provides control system gain scheduling to achieve very short settling time. Simulation results and some experimental results of the position controlled tracking using 4.5Kw DC servo motor are shown.