• Journal of Drive and Control
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• v.14 no.3
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• pp.40-49
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• 2017

This study presents an online estimation of an excavator's rotational inertia by using recursive least square with forgetting. It is difficult to measure rotational inertia in real systems. Against this background, online estimation of rotational inertia is essential for improving safety and automation of construction equipment such as excavators because changes in inertial parameter impact dynamic characteristics. Regarding an excavator, rotational inertia for swing motion may change significantly according to working posture and digging conditions. Hence, rotational inertia estimation by predicting swing motion is critical for enhancing working safety and automation. Swing velocity and damping coefficient were used for rotational inertia estimation in this study. Updating rules are proposed for enhancing convergence performance by using the damping coefficient and forgetting factors. The proposed estimation algorithm uses three forgetting factors to estimate time-varying rotational inertia, damping coefficient, and torque with different variation rates. Rotational inertia in a typical working scenario was considered for reasonable performance evaluation. Three simulations were conducted by considering several digging conditions. Presented estimation results reveal the proposed estimation scheme is effective for estimating varying rotational inertia of the excavator.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.123-126
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• 1995

Characteristics of control system design using Universal Learning Network (U.L.N.) are that a system to be controlled and a controller are both constructed by U.L.N. and that the controller is best tuned through learning. U.L.N has the same generalization ability as N.N.. So the controller constructed by U.L.N. is able to control the system in a favorable way under the condition different from the condition of the control system in learning stage. But stability can not be realized sufficiently. In this paper, we propose a robust control method using U.L.N. and second order derivatives of U.L.N.. The proposed method can realize better performance and robustness than the commonly used Neural Network. Robust control considered here is defined as follows. Even though initial values of node outputs change from those in learning, the control system is able to reduce its influence to other node outputs and can control the system in a preferable way as in the case of no variation. In order to realize such robust control, a new term concerning the variation is added to a usual criterion function. And parameter variables are adjusted so as to minimize the above mentioned criterion function using the second order derivatives of criterion function with respect to the parameters. Finally it is shown that the controller constricted by the proposed method works in an effective way through a simulation study of a nonlinear crane system.

• Structural Engineering and Mechanics
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• v.28 no.6
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• pp.749-765
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• 2008

Free axisymmetric vibrations of layered cylindrical shells of variable thickness are studied using spline function approximation techniques. Three different types of thickness variations are considered namely linear, exponential and sinusoidal. The equations of axisymmetric motion of layered cylindrical shells, on the longitudinal and transverse displacement components are obtained using Love's first approximation theory. A system of coupled differential equations on displacement functions are obtained by assuming the displacements in a separable form. Then the displacements are approximated using Bickley-spline approximation. The vibrations of two-layered cylindrical shells, made up of several types of layered materials and different boundary conditions are considered. Parametric studies have been made on the variation of frequency parameter with respect to the relative layer thickness, length ratio and type of thickness variation parameter.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.9 no.1
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• pp.54-62
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• 1995

This paper is a study on a speed control of an induction motor used the MRA-DSM(Mode1 Reference Adaptive-Discrete Sliding Mode) controller. In this paper, when controls motor speed, DSM algorithm is proposed for having Robustness against disturbance and parameter variation. and it is also proposed MRA-DSM including the additional load model reference algorithm, which can be compensated the discontinuous control imputs at sliding mode and followed the model Preference independent of parameter variation of control subjects. The control system is composed of the parallel processing control system using the microprocessor for maximizing the performance of control systems and the real time processing. Also it simplifies the hardware composed of controlling the system by software and improves the reliability of the system. And while MRA-DSM control, faster response characteristics of 27.2 % is obtained than DSM control.

• Journal of Korea Society of Industrial Information Systems
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• v.6 no.4
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• pp.54-60
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• 2001

In this thesis, We analyze performance evaluation of one channel B-WLL IF receiver system. Among the item of receiver performance, inter-modulation interference and yield analysis is especially focused. Since inter-modulation interference cause bad influence on system performance due to unwanted third order harmonic located in desired frequency band, third order harmonic causing inter-modulation interference should be efficiently removed. Yield analysis is observing influence on system performance when system element parameter is statistically varied, and in this thesis, system output is observed for LNA parameters. Additionally, Scheme for LNA gain adjustment to reduce inter-modulation interference is proposed by observing variation of third order harmonic output for LNA gain variation.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.2
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• pp.469-472
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• 2005

This paper propose about effective speech feature parameter that have robust character in effect of noise in realizing speech recognition system. Established MFCC that is the basic parameter used to ASR(Automatic Speech Recognition) and DCTCs that use DCT in basic parameter. Also, proposed delta-Cepstrum and delta-delta-Cepstrum parameter that reconstruct Cepstrum to have information for variation of speech. And compared recognition performance in using HMM. For dimension reduction of each parameter LDA algorithm apply and compared recognition. Results are presented reduced dimension delta-delta-Cepstrum parameter in using LDA recognition performance that improve more than existent parameter in noise environment of various condition.

• Korean System Dynamics Review
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• v.16 no.2
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• pp.75-100
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• 2015

The purpose of this study is to analyze causation of Ecosystem service's trade-off(ES trade-off) and to establish baseline data for wise spatial planning and management. In order to understand why and how ES trade-off occurs, systems thinking and causal loops were employed. The causal loop of ecosystem service creation cycle includes profits quantification process, decision making process, spatial planning and management process, and ecosystem services creation process. The profits quantification process has a limitation that all ecosystem service categories were not included in profits quantification, because quantification method for cultural services is insufficient. These problems led to unequal discussion opportunity in decision making process. ES trade-off occurs through transition of ecosystem function in spatial scale and temporal scale. In spatial scale, land-use variation and resource-use variation contribute to change an ecosystem function for different ES category by spatial planning and management. In temporal scale, a change of an ecosystem function for different ES category is influenced by ecological succession, seasonal change and land cover variation, which are parameter from environmental features. This study presented that spatial planning and management should ecosystem service assessment in order to enhance balanced ecosystem services.

• Journal of Korean Society on Water Environment
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• v.27 no.1
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• pp.9-18
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• 2011

In this study the optimal volume for non-point source control retention is estimated considering spatio-temporal variation of land surface. The 3-parameter mixed exponential probability density function is used to represent the statistical properties of rainfall events, and NRCS-CN method is applied as rainfall-runoff transformation. The catchment drainage area is divided into individual $30m{\times}30m$ cells, and runoff curve number is estimated at each cell. Using the derived probability density function theory, the stormwater probability density function at each cell is derived from the rainfall probability density function and NRCS-CN rainfall-runoff transformation. Considering the antecedent soil moisture condition at each cell and the spatial variation of CN value at the whole catchment drainage area, the ensemble stormwater capture curve is established to estimate the optimal volume for an non-point source control retention. The comparison between spatio-temporally varied land surface and constant land surface is presented as a case study for a urban drainage area.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.213-218
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• 1991

A new model which contains the dynamics of the motor system and the kinematics of the timing belt system is derived for an inverted pendulum system in FAPA Lab. Generalized standard compensator configuration(SCC) which contains the variable design parameters Kl, K2, .., K5 is proposed so that any desired design specification can be achieved. The robust controller which has robust property against the influence of sensor noise, system parameter variation and model uncertainty is designed minimizing the H$_{\infty}$-norm of transfer function from exogenous input to controlled output. The method of solving the two Riccati equations in state space and determining the controller uses on iteration method where the unique stabilizing solution to two algebraic Riccati equation must be positive definite and the spectral radius of their product less than .gamma.$^{2}$. Some cases are derived by varying the design parameter for simulation on a digital computer and experimenting the H$_{\infty}$- controller on an analog computer. The design parameters of controller which satisfies the desired control specification is selected on the basis of the simulation result and experimenting. The reasonableness and validity of the simulation and the robustness of the controller is established.d.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.405-413
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• 2006

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it an other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.