• 대한기계학회논문집A
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• 제25권9호
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• pp.1461-1467
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• 2001

This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.

• The Journal of the Acoustical Society of Korea
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• 제21권2E호
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• pp.56-62
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• 2002

This paper describes a new method of stability evaluation for an estimated impulse response of a plant. It is difficult for the conventional stability evaluation equation to be used in an adaptive feedforward control system which uses an immeasurable acoustic transfer system of a real plant, because the equation requires an exact true impulse response of the plant. Therefore, the usefulness of the conventional equation is limited in a computer simulation. The proposed method is applicable to not only a computer simulation but also a real feedforward adaptive control system. It is found that the system is stable when the value of misadjustment is below -10 dB through computer simulations and experiments. And also, it is proved that the error signal is stable through the verification using filtered reference and filtered error LMS methods.

• 대한기계학회논문집A
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• 제26권6호
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• pp.1035-1046
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• 2002

Time Delay Control(TDC) is a robust nonlinear control scheme using Time Delay Estimation(TDE) and also has a simple structure. To apply TDC to a real system, we must design Time Delay Controller to guarantee stability. The earlier research stated sufficient stability condition of TDC for general plants. In that research, it was assumed that time delay is infinitely small. But, it is impossible to implement infinitely small time delay in a real system. So, in this research we propose a new sufficient stability condition of TDC for general plants with finite time delay. And the simulation results indicate that the previous sufficient stability condition does not work even for small time delay, while our proposed condition works well.

• 한국항행학회논문지
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• 제17권6호
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• pp.679-686
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• 2013

본 논문에서는 데이터 통신을 이용하는 네트워크 제어 시스템에서 데이터 전송 지연에 의한 시스템 안정성 조건을 리아프노프 이론을 이용하여 새로이 유도하였다. 제안된 안정조건은 기존의 복잡한 계산에 의한 결과에 비하여 매우 간단한 형태이며 쉽게 계산될 수 있다. 또한, 기존에 연구된 결과들을 포함하여 적용될 수 있는 조건임을 보였다. 시뮬레이션을 통하여 기존의 결과에 비해 성능 면에서 우수하고 안정성 판단에 있어 덜 제한적임을 확인하였다.

• 한국운동역학회지
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• 제20권1호
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• pp.101-108
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• 2010

Recently, core and neuromuscular training(CNT) is emerging as a clinically relevant tool to improve neuromuscular control and to prevent sports injuries. The purpose of this study was to examine the effect of a 12 weeks CNT program on the dynamic stability after drop landing. The subjects attempted drop landing onto the force platform on single foot from a 40 cm height distance. The collected data was used to calculate the dynamic stability index. The Dynamic stability index was derived by measuring the medial-lateral stability index(MLSI), anterior-posterior stability index(APSI), and the vertical stability index(VSI). In comparison to the control group, the MLSI and APSI showed no difference, yet, it resulted in higher VSI. The results of this study suggest that CNT is worthwhile to be considered as a way to improve neuromuscular control and to prevent traumatic injuries. However, the results are taking into consideration to discuss the limitations of CNT and suggested future approaches.

• 대한수학회지
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• 제32권4호
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• pp.869-876
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• 1995

Piezo devices such as piezoceramic patches knwon as collocated rate sensor and actuators are commonly used in control of flexible structure (see, e.g., [1]) and noise reduction. Recently, Ito and Kang ([4]) developed a nonlinear feedback control synthesis for regulating fluid flow using these devices.

• 대한물리치료과학회지
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• 제19권2호
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• pp.63-71
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• 2012

Purpose : This study aimed to acquire a basic knowledge about lumbar stability and inquire into exercise approach of pressure biofeedback unit for lumbar stability. Methods : This study was composed with reviewed theory of lumbar stability and several books and articles for exercise using pressure biofeedback unit. Results : The stability of lumbar should work symmetrical with passive, active, control subsystem in neutral zone, and local muscles should be using for stability. Especially, selective using of transverse abdominis work for lumbar stability importantly. The control of using pressure biofeedback unit may important not only examination but treatment. Conclusion : The stability of lumbar need co-contraction of specific local muscle and training for timing as well as using pressure biofeedback unit for accurate control may use for examination and therapedic approach.

• 대한기계학회논문집A
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• 제40권1호
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• pp.103-111
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• 2016

본 논문에서는 차량의 횡방향 안정성을 향상시키기 위해 자세 제어 장치(ESC)와 능동 전륜 조향(AFS)을 이용하는 통합 새시 제어의 적응 가변 가중치 조절 방법을 제안한다. 제어기 설계 방법론을 적용하여 차량을 안정화시키는데 필요한 제어 요 모멘트를 구한 후 이를 가중 역행렬 기반 제어 할당 방법(WPCA)을 이용하여 ESC 의 제동력과 AFS 의 추가 조향각으로 분배한다. 저마찰 노면에서는 차량의 속도가 높다면 횡슬립각이 증가하여 횡방향 안정성이 저하되므로 이를 방지하기 위해 WPCA 의 가변가중치를 상황에 따라 조절하는 방법을 제안한다. 차량 시뮬레이션 패키지인 CarSim 에서 시뮬레이션을 수행하여 제안된 방법이 통합 섀시 제어기의 횡방향 안정성을 향상시킨다는 사실을 검증한다.

• 대한임베디드공학회논문지
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• 제17권5호
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• pp.257-263
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• 2022

Active stabilizers use signals such as steering angle, yaw rate, and lateral acceleration to vary the roll stiffness of the front and rear suspension depending on the vehicle's driving conditions, and are attracting attention as RSC (Roll Stability Control) system that suppresses roll when turning and improves ride comfort when going straight. Various studies have been conducted in relation to active stabilizer bars and RSC systems. However, accurate modeling of passive stabilizer model and active stabilizer model and vehicle dynamics analysis result verification are insufficient, and performance result analysis related to vehicle roll angle estimation and electric motor control is insufficient. Therefore, in this study, an accurate vehicle dynamics model was constructed by measuring the passive/active stabilizer bar model and component parameters. Based on this, the analysis result with high reliability was derived by comparing the roll angle estimation algorithm based on the lateral acceleration and suspension of the vehicle with the actual vehicle driving test result. In addition, it was intended to accurately analyze the motor torque characteristics and roll reduction effects of the electric motor-driven RSC system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.809-812
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• 1991

Two control strategies are proposed for two arm robots; i.e. position-position control and position-force control. For the proof of these control strategies, the stability analysis is conducted with robot dynamics included. First, the closed form dynamic equation of the robot is derived, then it is transformed into the operational space for further analysis. Finally, Liapunov method is applied to the dynamic equation in operational space.