• 해양환경안전학회지
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• 제25권3호
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• pp.306-312
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• 2019

This paper investigates to design a controller for maritime autonomous surface ship (MASS) by means of adaptive super-twisting algorithm (ASTA). A input-out feedback linearization method is considered for multi-input multi-output (MIMO) system. Sliding Mode Controller (SMC) is suitable for MASS subject to ocean environments due to its robustness against parameter uncertainties and disturbances. However, conventional SMC has inherent disadvantages so-called, chattering phenomenon, which resulted from the high frequency of switching terms. Chattering may cause harmful failure of actuators such as propeller and rudder of ships. The main contribution of this work is to address an appropriate controller for MASS, simultaneously controls surge and yaw motion in severe step inputs. Proposed control mechanism well provides convergence bewildered by external disturbances in the middle of steady-state responses as well as chattering attenuation. Also, the adaptive algorithm is contributed to reducing non-overestimated value of control gains. Control inputs of surge and yaw motion are displayed by smoother curves without excessive control activities of actuators. Finally, no overshoot can be seen in transient responses.

• 한국생산제조학회지
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• 제20권2호
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• pp.121-128
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• 2011

As high precision industries such as semiconductor, TFT-LCD manufacturing and MEMS continue to grow, the demand for higher DOF precision stages has been increasing. In general, the stages should accommodate a prescribed range of payloads in order to position various precision manufacturing/inspection instruments. Therefore a nonlinear controller using sliding motion is developed, which bears mass perturbation and makes the upper plate of the stage move in 6 DOF. For the application of the nonlinear control, an observer is also developed based on expected noise covariance. To eliminate the steady state error of step response, integral terms are inserted into the state-space model. The linear term of the controller is designed using optimization scheme in which parameters can be weighted according to their physical significance, whereas the nonlinear term of the controller is designed using trial and error method. A comprehensive simulation study proves that the designed controller is robust against mass perturbation and completely eliminates steady state errors.

• Geomechanics and Engineering
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• 제34권2호
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• pp.187-195
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• 2023

Intensive rainfall during the summer season in Korea has triggered numerous devastating landslides outside of downtown in mountainous areas. The 2D slope stability analysis that is generally used for cut slopes and embankments is inadequate to model slope failure in mountainous areas. This paper presents a new 3D slope stability formulation using the global sliding vector in the limit equilibrium method, and it uses an ellipsoidal slip surface for static and quasi-static analyses. The slip surface's flexibility of the ellipsoid shape gives a lower FS than the spherical failure shape in the Fellenius, Bishop, and Janbu's simplified methods. The increasing sub-columns of each column tend to increase the FS and converge to a steady value. The symmetrical geometric conditions of the convex turning corners do not indicate symmetrical failure of the surface in 3D analysis. Pseudo-static analysis shows that the horizontal seismic force decreases the FS and increases the mass volume at the critical failure state. The stability index takes the FS and corresponding sliding mass into consideration to assess the potential risk of slope failure in complex mountainous terrain. It is a valuable parameter for selecting a vulnerable area and evaluating the overall risk of slope failure.

• 한국철도학회논문집
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• 제20권2호
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• pp.241-247
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• 2017

장대레일이 부설된 철도 교량은 궤도-교량 상호작용으로 인하여 경간장 연장에 제약이 있다. 이러한 한계를 극복하기 위하여 궤도와 교량 사이에 저마찰 슬라이드층을 두어 교량과 궤도의 종방향 거동을 분리시켜 상호작용을 원천적으로 저감시키는 슬라이딩 궤도가 개발되고 있다. 본 연구에서는 슬라이드층을 포함하는 궤도 시스템을 실규모로 제작하여 종방향으로 반복하중을 재하하는 시험을 통하여 슬라이딩 궤도의 저마찰 거동을 종합적으로 평가하고자 하였다. 하중 재하 속도를 0.2, 1.0, 5.0, 10mm/min.으로 변화를 주었으며, 5,000, 10,000kg의 부가질량이 재하된 경우에 대한 마찰거동를 비교 검토하였다. 실험 결과 제안된 슬라이드층의 마찰계수는 0.22~0.33인 것으로 확인되었다. 더불어, 30년에 해당하는 10,000회의 반복하중을 재하하여 마찰계수 변화를 관찰한 결과, 마찰계수 증가는 7%에 머물러 반복하중에 대한 장기적인 내구성을 확보한 것으로 확인되었다. 슬라이드층의 마찰계수의 변화에 따른 영향을 상호작용 해석을 통하여 추가로 검토하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.337-341
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• 1995

This paper presents a robust control scheme using a multilayer network for the robot manipulator operating under the sea which has large uncertainties such as the buoyancy and the added mass/moment of inertia. The multilayer neural network acts as a compensator of the conventional sliding mode controller to maintain the control performance when the initial assumptions of uncertainty bounds are not valid. By the computer simulation results, the proposed control scheme dose not effectively compensate large uncertainties, but also reduces the steady stare error of the conventional sliding mode controller.

• 한국해양공학회지
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• 제15권4호
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• pp.86-91
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• 2001

In lateral ground flow, slope stability, and land slide problems, H-piles have been often used for a horizontally deforming ground to prevent the failure of mass of soil in a downward and outward movement of a slope. Here, Theoretical equations are derived to estimate the lateral force, assuming that the Mohr-coulomb's Plastic states occures in the ground just around H-piles. In this study, the mechanism of lateral force acting on passive pile that is in a row, situated in the ground undergoing plastic deformation was discussed, and its theoretical analysis was carried out considering the interval between H-piles. The solution of the theoretical equation derived from here showed resonable characteristic for constants of soil as well as for the interval, widths, and heights of H-pile.

• 한국해양공학회지
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• 제16권6호
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• pp.44-48
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• 2002

In lateral ground flow, slope stability, and land slide problems, H-piles have often been used, on a horizontally deforming ground, to prevent the failure of mass of soil in a downward and outward movement of a slope. Here, theoretical equations are derived to estimate the lateral force, assuming that the Mohr-Coulomb's plastic states occur in the ground, just around H-piles. In this study, some model experiments were performed to check the lateral forces determined from theoretical equations, using several pile widths, heights and various interval ratios between H-piles for sand specimens. The solution of the theoretical equation, derived from previous studies, showed reasonable characteristics for constants of soil, as well as for the interval, widths, and heights of H-Pile.

• International Journal of Precision Engineering and Manufacturing
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• 제9권2호
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• pp.3-7
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• 2008

Vibratory conveyors are widely used in industry to transport granular materials and products. A theoretical point mass model for vibratory conveying was studied. The results agreed well with experimental observations. The model theory included the resting, sliding and flight states of the material. Each state was considered separately when determining the equations of motion. For the coefficients of restitution, values of zero for the normal component and 0.8 for the tangential component were found to be appropriate for modeling the collisions of the granular particles with the conveying surface. The vibration angle had a large influence on the mode and rate of transport. There was an optimum vibration angle for a given set of conditions. The optimum vibration angle decreased and was better defined as the coefficient of friction increased. The results suggest the existence of an optimum dimensionless track acceleration (throw number), which does not support general industrial practice in which the track acceleration is limited when the feed cycle becomes erratic and unstable.

• 한국안전학회지
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• 제35권1호
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• pp.53-61
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• 2020

This study proposes a new damper configuration for seismic performance improvement of heavy sliding facilities inside a building. For this purpose, we deal with two connection types of control system, and the parametric study has been performed to investigate their comparative seismic performances according to the variations of the control capacity. In order to simulate the seismic responses of the proposed system, we employed a recently-developed seismic response analysis method that can deal with the two-mass system with nonlinear frictional sliding behavior. The numerical results demonstrate that the typical method of diagonal bracing damper connection can exhibit effective control performance both on structure and the heavy sliding facilities, whereas the structure-facilities connection method does not show any control effect on both responses. On the other hand, the typical method has some limitations that it can adversely cause excessive sliding of the facilities, depending upon the frequency characteristics of structure and earthquake. On the contrary, the structure-facilities connection method is very effective in reducing the sliding displacement of the heavy facilities, even with small amount of control capacity. Thus, the following potential expectations can be inferred from these results: The typical diagonal bracing damper connection method will have some promising benefits in controlling the sliding facilities inside the building as well as the building itself, and the structure-facilities connection method can be a cost-effective way of protecting the internal heavy important facilities inside the structure already designed with sufficient seismic performance.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2010년도 추계학술대회 논문집
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• pp.77-82
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• 2010

In this work, a new active hybrid mount featuring piezostack actuator and rubber element is proposed, and its vibration control performance is evaluated by applying a robust frequency-shaped sliding mode controller. After describing the configuration of the proposed mount, vibration control performances are experimentally evaluated. A mount system with four active hybrid mounts is then constructed. To attenuate vibrations on the supported mass, a frequency-shaped sliding mode controller is designed and implemented to the system. Finally, control performances are obtained and presented in time and frequency domains via computer simulation.