• 대한기계학회논문집A
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• 제20권1호
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• pp.146-153
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• 1996

A SCARA type direct drive robot which can be used in the assembly operation was designed and manufactured. Graphite fiber epoxy composite material was used in the fabrication of the robot arm structure in order to improve the speed of the robot arm with a high damping effect. For model-based control and sensitivity analysis of system parameters, the dynamic model of robot arm and drive servo amplifier parameters such as equivalent gains of PWM driver and velocity gains of servo system were estimated from frequency response tests. The complete dynamic model for overall robot system was used in the simulation of the open-loop control. The simulation results agreed reasonably well to the experimental results. The feedforward control using the dynamic models improved the trajectory tracking performance, decreasing the tracking error by factor of three compared with PID control. This study found that the inverse dynamic model of the robot arm including the drive servo system showed better performances than the case of arm dynamic model only.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.635-639
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• 1997

In order to design a system a process or plant must be put into a mathematical form for analysis and evaluation, and an appropriate controller must be designed to attain the desired system response. In this paper, the mathematical model for an optical pickup actuator is proposed and an H .inf. controller is employed to obtain the optimal focusing/tracking servo system behavior. Simulation and experiments are carried out to verify the performance of the proposed model.

• 자동차안전학회지
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• 제12권2호
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• pp.27-32
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• 2020

This paper presents steering system requirements to ensure the stabilized lateral control of autonomous driving vehicles. The two main objectives of a lateral controller in autonomous vehicles are maintenance of vehicle stability and tracking of the desired path. Even if the desired steering angle is immediately determined by the upper level controller, the overall controller performance is greatly influenced by the specification of steering system actuators. Since one of the major inescapable traits that affects controller performance is the time delay of the steering actuator, our work is mainly focused on finding adequate parameters of high level control algorithm to compensate these response characteristics and guarantee vehicle stability. Actual vehicle steering angle response was obtained with Electric Power Steering (EPS) actuator test subject to various longitudinal velocity. Steering input and output response analysis was performed via MATLAB system identification toolbox. The use of system identification is advantageous since the transfer function of the system is conveniently obtained compared with methods that require actual mathematical modeling of the system. Simulation results of full vehicle model suggest that the obtained tuning parameter yields reduced oscillation and lateral error compared with other cases, thus enhancing path tracking performance.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1179-1184
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• 2007

An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain. ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.

• Asia pacific journal of information systems
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• 제8권2호
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• pp.69-83
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• 1998

Some simulation tools have been developed to support business process reengineering. These tools can be used to not only analyze an as-is model of the existing process but also assess the potential value and feasibility of to-be models. But most of them are restricted to analyzing and redesign of the workflow only. Little attention is paid to the organization of people and their roles. This paper Presents a new methodology for business process simulation modeling and analysis. The methodology is based on the concepts of roles and customer-supplier chains. So the proposed methodology allows for tracking people and their roles affected by reengineering the business process. It enables one to analyze and evaluate not only workflow, but roles that are part of the flow. This paper developed a simulator to systematically construct simulation models and conduct simulations easily and efficiently. A case study is also presented as an illustrative example.

• 한국시뮬레이션학회논문지
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• 제22권4호
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• pp.67-82
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• 2013

본 논문은 공학급 국방 모델의 시뮬레이션 성능 향상을 위해 다중 충실도(Multi-fidelity) 모델링 시뮬레이션(M&S: Modeling and Simulation) 기법을 제안한다. 제안하는 기법은 다양한 충실도를 지닌 모델을 활용하여 고 충실도 모델의 시뮬레이션과 비교하여 유사한 수준의 시스템 분석 결과를 얻음과 동시에 시뮬레이션 성능 측면에서 이득을 가져오는 방안이다. 다중 충실도 원리를 적용하기 위해 본 논문은 충실도를 모델 동작과 실행 측면으로 세분화하고, 충실도 변환 지점을 FCP (Fidelity Change Point)로 정의한다. 이러한 원리를 바탕으로 본 논문은 다음의 세 가지 쟁점을 다룬다. 먼저, 모델 동작과 실행 측면의 충실도 변환을 위한 모델 구조와 제안하는 모델에 대한 수학적 형식론, 마지막으로 모델 실행을 위한 시뮬레이션 알고리즘을 제안한다. 사례 연구로 어뢰의 표적 추적 시나리오에 대한 기초 실험을 수행하였고, 실험 결과 제안하는 기법을 사용한 경우 기존의 시뮬레이션과 비교하여 최대 4.24배의 시뮬레이션 성능 향상을 보임을 확인하였다. 본 논문에서 제안하는 기법은 M&S 기반의 시스템 분석을 하는 다양한 분야에서 활용될 수 있음을 기대한다.

• 한국물환경학회지
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• 제29권3호
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• pp.383-392
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• 2013

In this research, mixing behavior of the floating pollutant such as oil spill accidents was analyzed by studying the advection-diffusion of GPS floaters at water surface. The LPT (Lagrangian Particle Tracking) model of EFDC (Environmental Fluid Dynamics Computer Code) was used to simulate the motion of the GPS floater tracer. In the field experiment, 35 GPS floaters were injected at the Samun Bridge of Nakdong River. GPS floaters traveled to downstream about 700 m for 90 minutes. The field data by the GPS floater experiments were compared with the simulation in order to calibrate the parameter of LPT model. The turbulent diffusion coefficient of LPT model was determined as $K_H/hu^*$ = 0.17 from the scatter diagram. The arrival time of peak concentration and transverse diffusion from the simulation results were similar with the experiments from the concentration curves. Numerical experiments for anticipation of damage from floating pollutant were conducted in the same reach of the Nakdong River and the results show that the pollutant cloud transported to the left bank where the Hwawon pumping station is located. For this reason, it is suggested that the proper action should be needed to maintain the safety of the water withdrawal at the Hwawon pumping station.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.984-989
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• 2008

An estimation of high-order damping in flexible multibody dynamic simulation is introduced in this paper. The suggested damping model based on the experimental modal analysis leads to more accurate correlation results comparing to the traditional linear damping model because it directly uses the modal parameters of each mode achieved from experiment even high frequency modes. The modal parameters until the 5th mode are extracted from the experimental modal testing of the flexible beam using a high speed camera. And using the measured damping ratio and natural frequency until the 5th mode, the generic damping model is constructed. Then, the ANCF (absolute Nodal Coordinate Formulation) simulation results are compared to experimental results until the 5th mode.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 추계학술대회 논문집 전력기술부문
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• pp.204-207
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• 2004

The paper proposes a simulation model of grid-connected photovoltaic generation system (PV system) using on PSCAD/EMTDC, a reliable power system and apparatus transient analysis program. A equivalent circuit model of a solar cell is used for modeling solar array. A series of parameters required for array modeling are deduced from general specification data of a solar module. A PWM voltage source inverter (VSI) model is presented and current control scheme is implemented for VSI control. A maximum power point tracking (MPPT) technique is applied for controlling the PV system. Simulation case study provides V-I and V-P characteristics of solar array and PV system control performance for irradiation changes.

• Journal of Power Electronics
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• 제12권6호
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• pp.982-991
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• 2012

In this study, a new method has been presented for the detection of broken rotor bar (BRB) faults in inverter driven induction motors controlled via Field Oriented Control (FOC). To this end, a FOC controlled induction motor with a BRB fault was modeled using the Matlab/Simulink program. Experiments were carried out using the prepared simulation model at various loads and operating speeds. The motor current and speeds were monitored for healthy, 1, 2 and 3 BRB faults. The Resampling Based Order Tracking Analysis (RB-OTA) method was applied to the monitored signals. The obtained results were compared by using the classic Fast Fourier Transform (FFT) method. When the obtained results were analyzed via the FFT method no information regarding any faults was determined in the run up or run down regions of the motor and the presented method gave very good results. The reliability of the proposed method was validated with experimental results. The main innovative part of this study is that the RB-OTA method was implemented on the induction motor current signal for detecting BRB faults.