• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.10a
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• pp.496-500
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• 2000

대형 구조물의 진동제어를 위하여 MR 유체 댐퍼를 사용한 반능동 제어기법에 대하여 연구하였다. 기존에 많이 사용되고 있는 수동제어기법은 일단 제어장치를 설치한 후에는 구조물에 실제로 작용하고 있는 외부 하중의 현재 특성에 대해서 적절히 반응할 수 없다는 제한을 가지고 있으며, 이를 극복하기 위하여 연구되어온 능동제어기법은 구조물이 진동을 감소시키기 위하여 구조물에 직접적으로 가해지는 커다란 제어력을 요구하며, 이로 인해 경우에 따라서는 불안정한 상태가 유발될 수도 있다는 점이 단점으로 지적되고 있다. 최근에 Spencer 등은 반능동 제어기법을 제안하였는데, 이는 수동제어장치의 제어특성을 On-Line 으로 조절하는 방식으로서 제어 가능한 수동제어기법으로도 불리운다. 구조물의 진동제어에 필요한 제어력이, 특수한 제어기구에서 발생되는 인위적인 힘이 아니라, 적절한 구조부재에서 발생되는 자연적인 부재력이므로, 무엇보다 강인하고 신뢰할 수 있는 제어기법이며, 이때 제어장치의 구조적 특성을, 측정된 구조물의 응답에 맞추어 적절히 조절함으로써 다양한 외부하중에 대해 보다 효율적인 제어가 이루어질 수 있도록 한 방법이다. 반능동제어를 위한 제어기로서는 Variable Orifice Dampers, Friction Controllable Isolators, Variable Stiffness Devices, Electro-Rheological (ER) Fluid Damper, Magneto-Rheological(MR) Fluid Damper등이 제안되고 있으며, 본 논문에서는 반응속도가 빠르고, 적은 파워만을 요구하며, 커다란 제어력을 낼 수 있는 MR Damper를 사용하여 지진하중을 받는 구조물의 반능동 제어게 대하여 연구하였다. MR Damper의 특성이 비선형이므로 이에 적합한 Sliding Mode Fuzzy Control(SMFC)기법을 사용하였으며 이때 SMFC 의 최적 설계를 위하여 Genetic Algorithm을 적용하였다. 제안된 제어기법의 실제 적용성을 검증하기 위하여 기존이 제어결과와 비교 검토하였으며, 그 결과로부터 MR Damper를 사용한 반능동 제어기법이 구조물의 진동제어에 매우 효과적임을 확인할 수 있었다.

• Journal of Power System Engineering
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• v.16 no.6
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• pp.79-85
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• 2012

본 논문에서는 항내에서 저속으로 운동(항해)하는 선박의 운동제어문제에 대해 고려하고 있다. 항내에서는 특히 그 운동속도가 느리므로 일반 항해에서와는 달이 저주파대역에서의 운동특성이 중요하다. 대부분의 중대형선박이 항내에서 터그보트에 의해 접안시설로 이동하게 된다. 이러한 사실을 고려하여 대상선박이 4기의 터그보트에 의해 제어되는 선박의 제어계 설계문제에 대해 고찰하고 있다. 주요 연구내용은 크게 두가지로 구분된다. 첫째 비선형특성이 강하게 포함되어있는 선박운동특성을 고려하여 비선형관측기를 설계한다. 이것은 특히 저주파수 대역에서 선박의 위치와 속도 등 제어신호를 계산하는데 필요한 정보를 추정하는데 유효한 방법으로 잘 알려져 있다. 이를 기반으로 외란 등에 강인한 슬라이딩모드 제어기를 설계한다. 결과적으로 비선형관측기를 포함한 슬라이딩모드제어기의 유용성을 시뮬레이션을 통해 검증하였으며 이 결과는 실험을 위한 유용한 기초자료로 활용될 것이다.

• Journal of Astronomy and Space Sciences
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• v.11 no.2
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• pp.281-295
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• 1994

In this paper, the Variable Structure System(VSS) theory with new continuous switching dynamic equation is used to design an automatic controller for the active nutation damping in momentum bias stabilized spacecraft. In the application of VSS theory to a linearized multivariable system with the nutation damping systems, there exist some disadvantages such as how to determine the switching gains and how to reduce the chattering phenomina and reaching phase in input and state trajectories. To solve these drawbacks, this paper presents the continuous switching dynamic equation instead of the discontinuous switching logics to obtain the sliding mode. The new design approach is much simpler than the VSS theory. And there do not exist chattering phenomina in this method because the obtained control inputs are continuous. Simultaneously the reaching phase is reduced by a suitable choice of design factor.

• Tribology and Lubricants
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• v.14 no.1
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• pp.70-78
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• 1998

Two different friction materials (organic and low-metallic pads) for automotive brakes were studied to investigate the anti-fading phenomena during stop. The anti-fading phenomena were pronounced more in the case of using low metallic friction materials than organic friction materials. The main cause of the anti-fading phenomena was the high dependence of friction coefficient on a sliding speed. The anti-fading was prominent when the initial brake temperature was high in the case of low-metallic friction materials due to the strong stick-slip event at high temperature. On the other hand, the anti-fading was not severe in organic friction materials and the effect was reduced at high braking temperature due to the thermal decomposition of organic friction materials. The strong stickslip phenomena of low metallic friction materials at high temperature induced high torque oscillations during drag test. During this experiment two different braking control modes (pressure controlled and torque controlled modes) were compared. The type of the control mode used for brake test significantly affected the friction characteristics.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.9
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• pp.1617-1624
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• 2006

This paper presents system modeling, modified space vector PWM implementation and design of a closed loop controller of the Z-source inverter which consists of L and C components and shoot-through zero vectors for DGS. Zero vector periods of SVPWM utilized to boost DC-link voltage instead of conventional DC/DC converter and transformer. Only two shoot-through vut(nn are used for DC link voltage control during one switching period without loss of non-zero vectors. Discrete time sliding mode controller, robust servomechanism controller are designed to realize fast and no-overshoot current response and a steady state voltage error. Simulation results are shows the effectiveness of the proposed algorithm.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.10
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• pp.53-59
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• 1990

In the control of robot manipulators, this paper presents a design of a new variable structure model following controller(VSMFC) using computed torque method (CTM). A sufficient condition for the existence of a sliding mode is derived by Lyapunov function. The reference model is a double integrators and the acceleration input consists of a proportional-derivative controller for the purpose of the stabilization of system and the desired performance. The proposed control scheme which consists of upper bounded and estimated value of each term of the manipulator of matrix inversion. Therefore the simulation results show that this controller is improved to the convergence of desired trajectories.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.411-416
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• 2000

Cutting process has been automated by progress of CNC and CAD/CAM, but polishing process has been depended on only experiential knowledge of expert. To automate the polishing process, a polishing robot with w degrees of freedom which is attached to a machining center with 3 degrees of freedom has been developed. This automatic polishing robot is able to keep the polishing tool normal on the curved surface of die to improve a performance of polishing. Polishing task for a curved surface die demands repetitive operation and high precision, but conventional control algorithm can not cope with the problem of disturbance such as a change of load. In this research, a new sliding mode control algorithm is applied to the robot. The signal compression method is used to identify polishing robot system. to obtain an effect of 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 axes machining center is divided into data of two types for 3 axes machining center and 2 axes polishing robot. To evaluate polishing performance of the robot. various experiments are carried out.

• International Journal of Automotive Technology
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• v.8 no.1
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• pp.49-57
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• 2007

This paper proposes a traction control system (TCS) that uses a sliding mode wheel slip controller and a PID throttle valve controller. In addition, a yaw motion controller (YMC) is also developed to improve lateral stability using a PID rear wheel steering angle controller. The dynamics of a vehicle and characteristics of the controllers are validated using a proposed full-car model. A driver model is also designed to steer the vehicle during maneuvers on a split ${\mu}$ road and double lane change maneuver. The simulation results show that the proposed full-car model is sufficient to predict vehicle responses accurately. The developed TCS provides improved acceleration performances on uniform slippery roads and split ${\mu}$ roads. When the vehicle is cornering and accelerating with the brake or engine TCS, understeer occurs. An integrated TCS eliminates these problems. The YMC with the integrated TCS improved the lateral stability and controllability of the vehicle.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.3
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• pp.315-321
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• 2014

This paper presents an integrated chassis control system with fail safety using optimum yaw moment distribution for a vehicle with steer-by-wire and brake-by-wire devices. The proposed system has two-level structure: upper- and lower-level controllers. In the upper-level controller, the control yaw moment is computed with sliding mode control theory. In the lower-level controller, the control yaw moment is distributed into the tire forces of active front steering(AFS) and electronic stability control(ESC) with the weighted pseudo-inverse based control allocation(WPCA) method. By setting the variable weights in WPCA, it is possible to take the sensor/actuator failure into account. In this framework, it is necessary to optimize the variables weights in order to enhance the yaw moment distribution. For this purpose, simulation-based tuning is proposed. To show the effectiveness of the proposed method, simulations are conducted on a vehicle simulation package, CarSim.

• Applied Chemistry for Engineering
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• v.10 no.8
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• pp.1155-1160
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• 1999

The screening methodology modeling, dispersion modeling procedures for continuous and instantaneous releases of the gas phase flow from the storage tank and pressure relief valve were considered. This study was performed to develop the screening methodology for prediction and control of hazardous/toxic gas releases by estimating the 1-hr average maximum ground-level concentration of $Cl_2$ gas vs. downwind distance by incorporating source term model including the general/physical properties of released material and release mode of the $Cl_2$ storage tank of the chemical plant facilities, dispersion model, and meteorological/topographical data into the TSCREEN model. As the results of the study, it was found that dispersion modes of the dense gas were affected by the state of the released material, the released conditions, physical-chemical properties of released material, and the released modes (continuous and instantaneous releases), and especially largely affected by initial (depressurized) density of the released material and release emission rate as well as the wind velocity. Especially, this study was considered to release hazardous material as meteorological data. It was thought that this screening methodology can be useful as a preliminary guideline for application of the refined analysis model by developing the generic sliding scale methodology for various senarios selected.