• Journal of Navigation and Port Research
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• v.31 no.1 s.117
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• pp.55-64
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• 2007

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 and 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.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.5
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• pp.894-902
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• 2010

This paper presents a vision-based robust off-road terrain classification method against environmental variation. As a supervised classification algorithm, we applied a neural network classifier using wavelet features extracted from wavelet transform of an image. In order to get over an effect of overall image feature variation, we adopted environment sensors and gathered the training parameters database according to environmental conditions. The robust terrain classification algorithm against environmental variation was implemented by choosing an optimal parameter using environmental information. The proposed algorithm was embedded on a processor board under the VxWorks real-time operating system. The processor board is containing four 1GHz 7448 PowerPC CPUs. In order to implement an optimal software architecture on which a distributed parallel processing is possible, we measured and analyzed the data delivery time between the CPUs. And the performance of the present algorithm was verified, comparing classification results using the real off-road images acquired under various environmental conditions in conformity with applied classifiers and features. Experiments show the robustness of the classification results on any environmental condition.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.9 no.3
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• pp.343-353
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• 1997

This paper presents a theoretical model for predicting transient behaviors during storage process of the cool storage system using the R141b clathrate. Introduction of the lumped capacitance method along with a brine reservoir having large thermal capacity yields a set of simplified energy equations. Based on the Arrhenius equation and the known experimental findings, the formation rate of clathrate for which the degree of subcooling is properly accounted is newly developed. An effective nondimensionalization of the model equations facilitates the closure of modeling as well as parametric study. Calculated results for a specific case not only simulate a typical pattern of temperautre variation in the tank successfully, but also agree reasonably well with available data. The effect of each characteristic parameter on the system performance is also investigated. It is revealed that the dominant among relevant parameters are the activation energy of reaction, the degree of subcoling and the initial mass fraction of refrigerant. Finally, the uncertainty associated with modeling of the shaft work variation appears to need further studies.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.62-68
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• 2011

This is a testing equipment system to analyze variation of creep force according to wheel-rail tread profile, running speed of vehicle, vertical and lateral force, wheel/rail contact point, attack angle and so on. In this paper, derailment occur in stages until the change of each parameter, while reproducing the actual situation was derailed. Thus, to derail what is the most influencing factors were analyzed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.1
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• pp.150-156
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• 2001

This paper proposed a speed estimator using MRAC(Model Reference Adaptive Control) for sensorless vector control. It is robust for parameter variation or disturbance and the estimated speed is used as feedback in a vector control system. Experiment is presented to confirm the theoretical analysis.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.166.6-166
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• 2001

An attitude control of an air vehicle based on the variable structure control is proposed. For an air vehicle, minimum weight is required. Thus, it is desired to reduce the input energy. The optimal state portrait curve using time-varying sliding surface is proposed to reduce the control energy. Tracking performance of the closed loop system is guaranteed under the existence of parameter variation and external disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.850-856
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• 1992

The problem of robust control of a underwater vehicle subject to variation of a real parameter and velocity is considered. The controller set which stabilized perturbed plant is chosen using numerical gradient method and the controller is used for nominal performance and robust performance. Simulation results are presented to show that the precise montion control of the controller is accomplished under perturbation in the system.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.575-577
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• 1987

A new control method for DC motor position control with variable structure is presented. The proposed method uses the desired trajectory with optimal input satisfying the given performance requirement as the switching curve and is insensitive to parameter variation and disturbance. To show the validity of the proposed method, digital computer simulation is performed. And the result is compared with that of the optimal state feedback.

• The Magazine of the IEIE
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• v.18 no.6
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• pp.39-46
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• 1991

칼라 비데오 프린터의 paper feeding 제어 시스템을 DC motor를 이용하여 설계하였다. 목표 spec을 만족하기 위한 H/W를 구성한 후 digital control 이론을 적용하여 loop gain K를 찾고 위상계와 속도계 gain을 결정하는 방법을 설명하였다. 한편 DC analysis를 통하여 앞에서 결정된 gain으로 설계할 경우 parameter variation에 의해 동작점이 벗어나는 것을 확인하고 system 구성 및 gain 등을 조정하여 동작점의 안정화를 가져올 수 있었다. 또한 DC analysis를 함으로써 부품의 공차를 설계할 수 있었다.

• Economic and Environmental Geology
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• v.55 no.6
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• pp.563-570
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• 2022

This study was objected to show the complexity of groundwater flow system in a site-scale area as a design parameter of the groundwater monitoring network for early detection of pollutant leakage from a potential source of groundwater contamination (e.g., storage tank). Around the tanks, three monitoring wells were installed at about 22~25 m deep and groundwater level and temperature had been monitored for 22 months by 2-minute interval, and then compared with precipitation and temperature data from nearby weather station. Annual variation of groundwater level and its response to precipitation event, variation of groundwater temperature and delayed response to that of atmospheric temperature indicate the complexity of groundwater flow and flow paths even in the relatively small area. Thus, groundwater monitoring network for early detection of contaminant leakage should be designed with full consideration of the complexity of groundwater flow system, identified from the detailed hydrogeological investigation of the site.